Shooting system, shooting method therefor, and program

    公开(公告)号:US11766789B2

    公开(公告)日:2023-09-26

    申请号:US17554225

    申请日:2021-12-17

    Inventor: Takemitsu Mori

    CPC classification number: B25J19/023 B25J9/1697 B25J19/04

    Abstract: To be able to favorably shoot an object-to-be-shot displayed on a display unit of a remote control-type robot. A shooting system includes a remote control-type robot including a display unit for displaying an image of an object-to-be-shot and that is operated remotely, first image capturing device for shooting the remote control-type robot, and image control device for performing at least one of: replacing the image of the object-to-be-shot displayed on the display unit shot by the first image capturing device; adjusting the image of the object-to-be shot displayed on the display unit; changing the position of the display unit; and changing the posture of the display unit so that the image of the object-to-be-shot displayed on the display unit is made clearer when the display unit of the remote control-type robot falls within a shooting range of the first image capturing device.

    Adaptive grasp planning for bin picking

    公开(公告)号:US11701777B2

    公开(公告)日:2023-07-18

    申请号:US16839807

    申请日:2020-04-03

    Abstract: An adaptive robot grasp planning technique for bin picking. Workpieces in a bin having random positions and poses are to be grasped by a robot and placed in a goal position and pose. The workpiece shape is analyzed to identify a plurality of robust grasp options, each grasp option having a position and orientation. The workpiece shape is also analyzed to determine a plurality of stable intermediate poses. Each individual workpiece in the bin is evaluated to identity a set of feasible grasps, and the workpiece is moved to the goal pose if such direct movement is possible. If direct movement is not possible, a search problem is formulated, where each stable intermediate pose is a node. The search problem is solved by evaluating the feasibility and optimality of each link between nodes. Feasibility of each link is evaluated in terms of collision avoidance constraints and robot joint motion constraints.

    Cleaning robot
    9.
    发明授权

    公开(公告)号:US11654574B2

    公开(公告)日:2023-05-23

    申请号:US16921095

    申请日:2020-07-06

    Abstract: A cleaning robot is provided. The cleaning robot includes a motion device configured to move the cleaning robot in an environment, and an exterior housing. The cleaning robot also includes a motion sensor configured to obtain parameters relating to a motion of the cleaning robot, and a storage device configured to store data including at least one of the one or more images or the one or more motion parameters. The cleaning robot also includes a camera configured to capture one or more images of the environment. The camera is disposed internal to a slant surface located at a front end of the exterior housing and is pivotable relative to the slant surface. The slant surface inclines upwardly with respect to a forward moving direction. The camera and the slant surface face substantially a same direction. A direction of the camera and the forward moving direction form an acute angle.

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