Sensorized robotic gripping device

Patent metadata

Field	Value
Publication number	US-10682774-B2
Application number	US-201715839045-A
Country	US
Kind code	B2
Filing date	Dec 12, 2017
Priority date	Dec 12, 2017
Publication date	Jun 16, 2020
Grant date	Jun 16, 2020

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.

First claim

The invention claimed is:

1. A robotic gripping device, comprising:
a palm;
a plurality of digits coupled to the palm;
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 extending from the palm and between the plurality of digits; and
an infrared camera, comprising an infrared illumination source, wherein the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction extending from the palm and between the plurality of digits.

2. The robotic gripping device of claim 1 , wherein the time-of-flight sensor is further configured to generate reflectance data in the direction extending from the palm and between the plurality of digits.

3. The robotic gripping device of claim 1 , further comprising a second time-of-flight sensor arranged on the palm such that the second time-of-flight sensor is configured to generate additional time-of-flight distance data in the direction extending from the palm and between the plurality of digits.

4. The robotic gripping device of claim 3 , wherein the infrared camera is positioned between the time-of-flight sensor and the second time-of-flight sensor on the palm.

5. The robotic gripping device of claim 3 , wherein the time-of-flight sensor is a short-range time-of-flight sensor configured to measure distance within a first range, wherein the second time-of-flight sensor is a long-range time-of-flight sensor configured to measure distance within a second range, and wherein the second range extends further from the palm than the first range.

6. The robotic gripping device of claim 5 , wherein the infrared camera is configured to measure distance within a third range, wherein the third range extends further from the palm than the first range, wherein the second range extends further from the palm than the third range.

7. The robotic gripping device of claim 1 , wherein the infrared camera is a microcamera configured to generate 60×60 grayscale images.

8. The robotic gripping device of claim 1 , wherein the time-of-flight sensor and the infrared camera are both attached to a printed circuit board (PCB), wherein the PCB is coupled to the palm.

9. The robotic gripping device of claim 8 , further comprising a wrist coupled to the palm, wherein the PCB interfaces with a sensor board that services a force-torque sensor on the wrist.

10. The robotic gripping device of claim 8 , further comprising an inertial measurement unit (IMU), wherein the IMU is attached to a reverse side of the PCB.

11. The robotic gripping device of claim 1 , wherein the plurality of digits comprises two opposable digits, wherein each of the two opposable digits is an underactuated digit.

12. The robotic gripping device of claim 11 , wherein each underactuated digit comprises:
a deformable gripping surface; and
a plurality of members coupled together end-to-end by one or more unactuated joints, wherein the plurality of members are configured to cause the deformable gripping surface to conform to a shape of an object grasped between the two opposable digits.

13. The robotic gripping device of claim 11 , further comprising two rotational joints coupled to the palm, wherein the two rotational joints are configured to rotate the two opposable digits towards and away from each other, and wherein the infrared camera and the time-of-flight sensor are positioned on the palm between the two rotational joints.

14. The robotic gripping device of claim 1 , further comprising an infrared diffuser external to the infrared camera and positioned over the infrared illumination source, wherein the infrared diffuser is configured to diffuse infrared light emitted by the infrared illumination source.

15. A robot, comprising a robotic gripping device, wherein the robotic gripping device comprises:
a palm;
a plurality of digits coupled to the palm;
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 extending from the palm and between the plurality of digits; and
an infrared camera, comprising an infrared illumination source, wherein the infrared camera is arranged on the palm such that the infrared camera is configured to generate grayscale image data in the direction extending from the palm and between the plurality of digits.

16. The robot of claim 15 , wherein the robot comprises a robotic arm, wherein the robotic gripping device is an end effector of the robotic arm.

17. The robot of claim 15 , wherein the robotic gripping device further comprises a second time-of-flight sensor arranged on the palm such that the second time-of-flight sensor is configured to generate additional time-of-flight distance data in the direction extending from the palm and between the plurality of digits.

18. The robot of claim 17 , wherein the infrared camera is positioned between the time-of-flight sensor and the second time-of-flight sensor on the palm, wherein the time-of-flight sensor is a short-range time-of-flight sensor configured to measure distance within a first range, wherein the second time-of-flight sensor is a long-range time-of-flight sensor configured to measure distance within a second range, and wherein the second range extends further from the palm than the first range.

19. The robot of claim 15 , wherein the plurality of digits comprise two opposable digits, wherein each of the two opposable digits is an underactuated digit, and wherein the robotic gripping device further comprises two rotational joints coupled to the palm, wherein the two rotational joints are configured to rotate the two opposable digits towards and away from each other, and wherein the infrared camera and the time-of-flight sensor are positioned on the palm between the two rotational joints.

20. A method, comprising:
receiving time-of-flight distance data in a direction extending from a palm of a robotic gripper and between a plurality of digits of the robotic gripper from a time-of-flight sensor arranged on the palm of the robotic gripper, wherein the plurality of digits of the robotic gripper are coupled to the palm of the robotic gripper;
receiving grayscale image data in the direction extending from the palm and between the plurality of digits of the robotic gripper from an infrared camera arranged on the palm of the robotic gripper; and
controlling the robotic gripper based on the time-of-flight distance data and the grayscale image data.

Assignees

• X Dev Llc

Inventors

• Bingham Jeffrey
• Alexander Taylor
• Homberg Bianca
• Delpreto Joseph
• Shafer Alex

Classifications

• G05B2219/40613

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