Dishwasher loading and unloading robot
AssigneeClutterbot, Inc.
InventorJustin David Hamilton
Life of this patent
Estimating the term…
Abstract
A method and system for a tidying robot to learn and perform cleaning tasks. The method involves identifying objects and parts in an environment, detecting landmarks and affordance heatmaps to visualize manipulation points, determining tasks and evaluating attributes, selecting contact points, planning robot motions, recording task progress, and logging successes or failures. A learned skill is created by collecting successful demonstrations of a task and saving the robot's actions as a learned skill. The learned skill is then configured into a robotic control system of the tidying robot, which can be invoked to perform the learned task.
Claims20
A method comprising:
- identifying objects and parts of the objects in an imaged environment of a tidying robot;
- wherein the tidying robot is configured with:
- a chassis;
- a capture and containment system including:
- a scoop;
- pusher pads including a first pusher pad and a second pusher pad;
- pusher pad arms including a first pusher pad arm and a second pusher pad arm;
- a gripper arm;
- a lifting column configured to raise and lower the capture and containment system through extension and retraction of a lifting column linear actuator;
- detecting landmarks on the objects and the parts of the objects, wherein the landmarks are distinctive points;
- highlighting the landmarks detected, using affordance heatmaps, where robot actions can be executed to manipulate the objects and the parts of the objects;
- determining tasks needed to complete a work strategy in the imaged environment;
- evaluating the attributes of a task step;
- selecting, using a keypoint solver, specific contact or manipulation points available under step constraints;
- identifying, using a motion planner, robot motions that will perform the robot actions of the task step by engaging the contact or manipulation points;
- recording, using a state updater, task progress;
- logging task step success or task step failure.
A method comprising:
- receiving, by an artificial intelligence (AI) model, skill definition data,
- wherein a skill is a stored series of robot actions and action parameters by which a tidying robot completes a task step, and
- wherein the skill definition data includes a skill name, a skill start condition, a skill success condition, and at least one skill failure condition;
- receiving, by the AI model, skill input data representing a target environment in which the skill is to be performed, wherein the skill input data includes depth measurement data;
- collecting at least one successful demonstration of the skill, wherein the skill is executed and the skill success condition is detected;
- saving the series of robot actions performed during the at least one successful demonstration as a learned skill;
- configuring, with the AI model, a robotic control system of the tidying robot with the learned skill, the tidying robot comprising:
- a chassis;
- a capture and containment system including:
- a scoop;
- pusher pads including a first pusher pad and a second pusher pad;
- pusher pad arms including a first pusher pad arm and a second pusher pad arm;
- a gripper arm;
- and
- a lifting column configured to raise and lower the capture and containment system through extension and retraction of a lifting column linear actuator;
- and
- invoking, by the AI model, a performance of the learned skill by the tidying robot.
Dependencies are inferred from the claim text.