US 2025/0387902 A1 · BIN WALL COLLISION DETECTION FOR ROBOTIC BIN PICKING

Abstract

Bin picking refers to a robot grasping objects that can define random or arbitrary poses, from a container or bin. The robot can move or transport the objects, and place them at a different location for packaging or further processing. It is recognized herein, however, that current approaches to robotic picking lack efficiency and capabilities. In particular, current approaches often do not properly or efficiently identify certain clearances associated with a given robot to execute various grasps, due to various technical challenges in doing so. During runtime of a robot, various clearance dimensions associated with the robot executing a grasp are determined. In particular, for example, during runtime the robot can determine trajectories for executing grasps of objects in bins without colliding with the bin, for instance walls of the bin.

Claims15

Dependent claims

An autonomous system configured to operate in an active industrial environment so as to define a runtime, the autonomous system comprising:

a robot defining an end effector configured to grasp a plurality of objects within a workspace;
and
a memory storing instructions that, when executed by the one or more processors, cause the autonomous system to, during the runtime:
obtain dimensions of a bin within the workspace, the bin capable of containing one or more of the plurality of objects within one or more walls of the bin;
based on the dimensions, determine planes that represent the one or more walls of the bin;
obtain properties of the end effector;
determine a grasp point and a grasp nominal line, the grasp point defining a location of the end effector within the one or more walls of the bin, and the grasp nominal line defining a position of the end effector to perform a grasp at the grasp point;
and
based on the planes that represent the one or more walls of the bin, the properties of the end effector, the grasp point, and the grasp nominal line, before performing the grasp, determine whether the end effector collides with the one or more walls when performing the grasp.

6 more elements

Dependencies are inferred from the claim text.

Bin wall collision detection for robotic bin picking

Life of this patent

Bin wall collision detection for robotic bin picking

Life of this patent

Abstract

Claims15