US 12,005,590 B2
System and/or method for robotic foodstuff assembly
Rajat Bhageria, San Francisco, CA (US); Clement Creusot, San Francisco, CA (US); Luis Rayas, San Francisco, CA (US); Dean Wilhelmi, San Francisco, CA (US); Harjot Bal, San Francisco, CA (US); Xinyi Daniel Tang, San Francisco, CA (US); Erik Gokbora, San Francisco, CA (US); Connor Buckland, San Francisco, CA (US); Kody Brown, San Francisco, CA (US); and Weston Wahl, San Francisco, CA (US)
Assigned to Chef Robotics, Inc., San Francisco, CA (US)
Filed by Chef Robotics, Inc., San Francisco, CA (US)
Filed on Aug. 4, 2022, as Appl. No. 17/881,484.
Claims priority of provisional application 63/336,030, filed on Apr. 28, 2022.
Claims priority of provisional application 63/229,420, filed on Aug. 4, 2021.
Prior Publication US 2023/0039524 A1, Feb. 9, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B25J 13/06 (2006.01)
CPC B25J 9/1687 (2013.01) [B25J 9/0093 (2013.01); B25J 9/161 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 11/0045 (2013.01); B25J 13/06 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
based on a first set of depth-image data sampled during a first time period with a camera oriented towards a foodstuff bin, generating a representation of a three-dimensional surface of bulk foodstuff within the foodstuff bin;
based on the representation, executing a first pick with a food utensil of a robot;
maintaining the representation over a second time period after execution of the first pick, comprising:
updating a portion of the representation of the three-dimensional surface based on a second set of data, wherein a remainder of the representation is based on the first set of depth-image data; and
contemporaneously with maintaining the representation of the three— dimensional surface, repeatedly:
based on a target portion amount of the bulk foodstuff, generating a pick depth map for the three-dimensional surface, using the representation;
based on the pick depth map, selecting a pick target associated with a coordinate position and a pick-depth below the three-dimensional surface of the foodstuff;
determining control instructions for the robot based on the pick target, the control instructions comprising a robot trajectory; and
executing a pick with the food utensil of the robot based on the control instructions.