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公开(公告)号：US11179852B2
公开(公告)日：2021-11-23
申请号：US16363795
申请日：2019-03-25
摘要： An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
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公开(公告)号：US11030766B2
公开(公告)日：2021-06-08
申请号：US16363708
申请日：2019-03-25
发明人： Kerkil Choi , Yen-Khai Lee
摘要： An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
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公开(公告)号：US20210204793A1
公开(公告)日：2021-07-08
申请号：US17208291
申请日：2021-03-22
摘要： Example intelligent dishwashing systems and methods are described. In one implementation, a system includes an imaging system configured to capture at least one image of an article of dishware. A processing system analyzes the at least one image to determine a presence and a location of a stain on the article of dishware. Responsive to determining the presence of a stain, a cleaning system is configured to clean the location of the stain on the article of dishware.
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公开(公告)号：US20210001488A1
公开(公告)日：2021-01-07
申请号：US16502528
申请日：2019-07-03
摘要： An imaging system captures images of a work surface having articles of cutlery distributed thereon. An end effector, such as a magnetic end effector, may be used to grasp articles of cutlery and place them in a designated location according to the type of the article of cutlery as determined using an image of the work surface and machine vision. A type of articles of cutlery may be classified based on the image such as according to category (knife, fork, spoon), size, or brand. Multiple articles of cutlery occluding one another may be dealt with by stirring or grasping multiple items and releasing them on a separate work surface in order to disperse them. Whether the end effector is grasping multiple articles of cutlery may be determined by capturing an image of the end effector. Machine vision may determine whether an article of cutlery is contaminated or damaged.
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公开(公告)号：US11158072B2
公开(公告)日：2021-10-26
申请号：US15887566
申请日：2018-02-02
摘要： Example intelligent dishwashing systems and methods are described. In one implementation, a system includes a light source that is configured to illuminate an article of dishware. An imaging system is configured to capture at least one image of the article of dishware. A processing system is configured to analyze the at least one image to determine a presence of a stain on the article of dishware.
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公开(公告)号：US10952591B2
公开(公告)日：2021-03-23
申请号：US15887686
申请日：2018-02-02
摘要： Example intelligent dishwashing systems and methods are described. In one implementation, a system includes an imaging system configured to capture at least one image of an article of dishware. A processing system analyzes the at least one image to determine a presence and a location of a stain on the article of dishware. Responsive to determining the presence of a stain, a cleaning system is configured to clean the location of the stain on the article of dishware.
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公开(公告)号：US20200311956A1
公开(公告)日：2020-10-01
申请号：US16363708
申请日：2019-03-25
发明人： Kerkil Choi , Yen-Khai Lee
IPC分类号： G06T7/70 , G06T7/00 , G06K9/62 , G06T7/80 , G05B19/4155
摘要： An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
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公开(公告)号：US20190239716A1
公开(公告)日：2019-08-08
申请号：US15887686
申请日：2018-02-02
CPC分类号： A47L15/4295 , A47L15/0007 , A47L15/0028 , A47L15/0031 , A47L2201/06 , A47L2401/04 , A47L2501/02 , A47L2501/03 , A47L2501/04 , A47L2501/20 , A47L2501/24 , A47L2501/30
摘要： Example intelligent dishwashing systems and methods are described. In one implementation, a system includes an imaging system configured to capture at least one image of an article of dishware. A processing system analyzes the at least one image to determine a presence and a location of a stain on the article of dishware. Responsive to determining the presence of a stain, a cleaning system is configured to clean the location of the stain on the article of dishware.
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公开(公告)号：US20200306980A1
公开(公告)日：2020-10-01
申请号：US16363795
申请日：2019-03-25
摘要： An actuator and end effector are controlled according to images from cameras having a surface in their field of view. Vessels (cups, bowls, etc.) and other objects are identified in the images and their configuration is assigned to a finite set of categories by a classifier that does not output a 3D bounding box or determine a 6D pose. For objects assigned to a first subset of categories, grasping parameters for controlling the actuator and end effector are determined using only 2D bounding boxes, such as oriented 2D bounding boxes. For objects not assigned to the first subset, a righting operation may be performed using only 2D bounding boxes. Objects that are still not in the first set may then be grasped by estimating a 3D bounding box and 6D pose.
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公开(公告)号：US20190244375A1
公开(公告)日：2019-08-08
申请号：US15887566
申请日：2018-02-02
CPC分类号： G06T7/44 , A47L15/4295 , A47L2401/04 , G06N3/04 , G06N3/08 , G06T7/0002 , G06T7/12 , G06T7/174 , G06T2207/10048 , G06T2207/10064 , G06T2207/10152 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
摘要： Example intelligent dishwashing systems and methods are described. In one implementation, a system includes a light source that is configured to illuminate an article of dishware. An imaging system is configured to capture at least one image of the article of dishware. A processing system is configured to analyze the at least one image to determine a presence of a stain on the article of dishware.
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