US 12,240,115 B2
Systems and methods for robotic picking
Yan Duan, Berkeley, CA (US); Xi Chen, Berkeley, CA (US); Mostafa Rohaninejad, Saratoga, CA (US); Nikhil Mishra, Irvine, CA (US); Yu Xuan Liu, Sugar Land, TX (US); Andrew Amir Vaziri, Lutherville, MD (US); Haoran Tang, Emeryville, CA (US); Yide Shentu, Berkeley, CA (US); Ian Rust, San Francisco, CA (US); and Carlos Florensa, Berkeley, CA (US)
Assigned to Embodied Intelligence Inc., Emeryville, CA (US)
Filed by Embodied Intelligence, Inc., Berkeley, CA (US)
Filed on Sep. 8, 2020, as Appl. No. 17/014,545.
Claims priority of provisional application 62/897,282, filed on Sep. 7, 2019.
Prior Publication US 2021/0069904 A1, Mar. 11, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 15/06 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/161 (2013.01); B25J 9/1653 (2013.01); B25J 9/1697 (2013.01); B25J 15/0658 (2013.01); B25J 19/023 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating an apparatus for picking objects from a bin, the method comprising:
collecting image data from a computer-vision system, wherein the image data comprises information related to one or more objects in the bin;
identifying a plurality of distinct objects in the bin based on the image data;
providing at least a portion of the image data to one or more machine learning algorithms trained to identify picking strategies, wherein the picking strategies identify an order of the plurality of distinct objects to attempt to pick up and a location on each object of the plurality of distinct objects at which to grasp each object;
attempting to pick up, with a picking mechanism, a first object of the plurality of distinct objects from the bin at a first location on the first object according to a picking strategy of the picking strategies identified by the one or more machine learning algorithms;
in response to determining that the first object was not successfully picked up, repositioning the first object in the bin such that a position of the first object changes;
after repositioning the first object, providing new image data to the one or more machine learning algorithms, wherein the new image data comprises new information related to the one or more objects in the bin; and
attempting to pick up, with the picking mechanism, the first object from the bin at a second location on the first object according to a new picking strategy identified by the one or more machine learning algorithms.