US 11,667,034 B2
Computerized system and method using different image views to find grasp locations and trajectories for robotic pick up
Heiko Claussen, North Brunswick, NJ (US); Martin Sehr, Kensington, CA (US); Eugen Solowjow, Berkeley, CA (US); Chengtao Wen, Redwood City, CA (US); and Juan L. Aparicio Ojea, Moraga, CA (US)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Filed by Siemens Aktiengesellschaft, Munich (DE)
Filed on Feb. 12, 2020, as Appl. No. 16/788,840.
Claims priority of application No. 19157525 (EP), filed on Feb. 15, 2019.
Prior Publication US 2020/0262064 A1, Aug. 20, 2020
Int. Cl. G06F 19/00 (2018.01); B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/162 (2013.01); B25J 9/1669 (2013.01); B25J 9/1697 (2013.01); G05B 2219/39484 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computerized method comprising:
during motion of a robotic manipulator arranged to grasp objects in an environment of the robotic manipulator, capturing images with an imaging sensor of the robotic manipulator, the images providing different views of one or more objects from a plurality of objects in the environment of the robotic manipulator;
based on the different views provided by the captured images, finding candidate grasp locations for performing a grasp of a respective object of the one or more objects from the plurality of objects in the environment of the robotic manipulator;
calculating respective values indicative of grasp quality for the candidate grasp locations; and
based on the calculated respective values indicative of grasp quality for the candidate grasp locations, selecting an initial grasp location and an initial trajectory likely to result in a successful grasp of the respective object of the one or more objects from the plurality of objects in the environment of the robotic manipulator; and
commanding motion of the robotic manipulator along the selected initial trajectory to reach the selected initial grasp location,
executing the grasp of the respective object at the selected initial grasp location with a gripper attached to the robotic manipulator, and
assigning a penalty to the selected initial grasp location when the grasp of the respective object at the selected initial grasp location is unsuccessful to avoid repeating grasps at an unsuccessful grasp location, and further comprising:
defining an updated trajectory of the robotic manipulator at least based on the different views provided by the captured images, wherein new grasp locations are evaluated along the initial trajectory of the initial grasp location allowing refinement of the initial trajectory for a more suitable grasp candidate.