US 11,969,897 B2
Method, system, and non-transitory computer-readable recording medium for controlling a serving robot
John Jungwoo Ha, Frisco, TX (US)
Assigned to Bear Robotics, Inc., Redwood City, CA (US)
Filed by Bear Robotics, Inc., Redwood City, CA (US)
Filed on Jul. 14, 2021, as Appl. No. 17/375,334.
Prior Publication US 2023/0014212 A1, Jan. 19, 2023
Int. Cl. B25J 9/16 (2006.01); G05B 19/4155 (2006.01)
CPC B25J 9/1664 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/45084 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for controlling a serving robot, the method comprising the steps of:
acquiring first sensor data on at least one object placed on a support coupled to a serving robot, using at least one first sensor coupled to the serving robot;
deciding whether the at least one object is a serving object on the basis of the first sensor data, and in response to deciding that the at least one object is a serving object, determining properties of illumination of the serving robot to be applied to the serving object on the basis of the first sensor data; and
dynamically changing the properties of the illumination of the serving robot on the basis of information on surroundings acquired during travel of the serving robot,
wherein in the changing step, the properties of the illumination of the serving robot are dynamically changed in a manner to eliminate a difference between properties of light actually applied to the serving object and the determined properties of the illumination of the serving robot, and
wherein in the changing step, in response to determining that the serving object is removed from the support and placed at a new position, properties of illumination around the serving object to be applied to the serving object at the new position are determined on the basis of ambient information on the serving object at the new position.