User-assisted robotic control systems

Patent metadata

Field	Value
Publication number	US-2018281194-A1
Application number	US-201815941670-A
Country	US
Kind code	A1
Filing date	Mar 30, 2018
Priority date	Mar 30, 2017
Publication date	Oct 4, 2018
Grant date	—

Abstract

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.

First claim

What is claimed is:

1 . A method for calibrating a robotic system comprising a robotic arm, a calibration tool connected to the robotic arm, and a sensor, the method comprising:
receiving a calibration command from a local processor; and moving the robotic arm to contact the calibration tool with one or more predetermined calibration locations.

2 . The method of claim 1 , comprising moving the robotic arm into a predetermined home position.

3 . The method of claim 1 , comprising: providing the one or more predetermined calibration locations in a bin.

4 . The method of claim 1 , comprising: providing the one or more predetermined calibration locations on a calibration sheet having one or more visual elements thereon.

5 . The method of claim 4 , wherein the sensor is a camera, and comprising: using a camera image to cause the calibration tool to contact the visual elements in a sequence.

6 . The method of claim 5 , comprising: receiving the sequence from a remote electronic device.

7 . The method of claim 1 , wherein the sensor comprises a camera, the method comprising:
receiving an image from the camera; orienting the image according to one or more of: a calibration pattern in the image, or detected edges in the image to a standard perspective; and transmitting the image in the standard perspective to a remote electronic device.

8 . A method for calibrating a robotic system comprising a robotic arm and a range sensor, the method comprising:
using the range sensor to measure a known distance to a target position; computing a difference between the measured distance and the known distance; and determining whether the computed difference falls within a tolerance level.

9 . The method of claim 8 , comprising performing the method at one or more of: the start of every pick cycle, after a set interval of pick cycles, or after a pick attempt where a plurality of gripping retries were executed.

10 . The method of claim 8 comprising, when the computed difference falls outside of the tolerance level, determining that a foreign object is present.

11 . The method of claim 8 , comprising, when the computed difference falls outside of the tolerance level, moving the robotic arm to a cleaning position and cleaning an end of the robotic arm.

12 . A method, in a robotic system comprising: a robotic arm, a gripper connected to the robotic arm, a range detector, and a two-dimensional camera, for moving the robotic arm through three-dimensional space, the method comprising:
moving the robotic arm along a vector defined by a first position of the camera and a second position of a target object; detecting, with the range detector, a range to the target object; and actuating actuators in the gripper when the target object is detected in range of at least the tips of the actuators.

13 . The method of claim 12 , comprising:
lowering the gripper by a first predetermined distance until the range sensor indicates that the target object is within reach; and
actuating the actuators in the gripper.

14 . The method of claim 13 , comprising:
determining, from one or more sensors, that the target object has not been sufficiently grasped by the actuators; lowering the gripper toward the target object by a second predetermined amount; and actuating the actuators in the gripper.

15 . The method of claim 14 , comprising:
repeatedly lowering the gripper and actuating the actuators in the gripper until one of: the target object is sufficiently grasped, or a specified number of attempts is reached.

16 . The method of claim 13 , comprising:
determining, from one or more sensors, that the target object has not been sufficiently grasped by the actuators; adjusting a force applied by the actuators; and actuating the actuators in the gripper.

17 . The method of claim 13 , comprising:
determining, from one or more sensors, that the target object has not been sufficiently grasped by the actuators; and, one or more of:
rotating the gripper to grasp the target object from another orientation, or
translating the gripper to grasp the target object on a different surface.

18 . The method of claim 12 , comprising:
determining that a current orientation of the gripper will result in a collision with an object near the target object or with a side of a container; and reorienting the gripper to avoid the collision.

19 . The method of claim 12 , comprising:
receiving a command from a remote electronic device; rotating the gripper according to the received command; and deploying the actuators at one or more of an angle or a distance as specified in the received command.

20 . A range finding sensor apparatus comprising:
a base hub; a sensor in the base hub comprising a transmitter operative to emit electromagnetic radiation and a receiver operative to receive electromagnetic radiation; a protective cover comprising a transmissive layer covering the sensor; and a barrier on the base hub between the transmitter and the receiver operative to block the electromagnetic radiation from the transmitter at the receiver.

21 . The apparatus of claim 20 , wherein the barrier is a single piece.

22 . The apparatus of claim 20 , wherein the barrier comprises a plurality of pieces.

23 . The apparatus of claim 22 , wherein the barrier comprises a first outer piece that surrounds an outer perimeter of the sensor, and a second outer piece, adhered to the protective cover, that matches the first outer piece and includes an inner piece of the barrier that fits between the transmitter and the receiver when the protective cover is installed over the sensor.

24 . The apparatus of claim 20 , wherein the barrier spans an entire distance between an outer surface of the sensor and an inner surface of the protective cover.

25 . The apparatus of claim 20 , wherein the barrier spans less than an entire distance between an outer surface of the sensor and an inner surface of the protective cover.

Assignees

• Soft Robotics Inc

Inventors

• Rosenstein Michael
• Curhan Jeff
• Lessing Joshua Aaron
• Knopf Ryan
• Harburg Daniel
• Chiappetta Mark

Classifications

• B25J15/12

  with flexible finger members · CPC title

• F15B15/10

  the motor being of diaphragm type · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• G05B2219/39466

  Hand, gripper, end effector of manipulator · CPC title

• Y10S901/47

  Optical · CPC title