US 12,350,847 B2
Method for controlling a robot for manipulating, in particular picking up, an object
Andras Gabor Kupcsik, Herrenberg (DE); Christian Graf, Munich (DE); Miroslav Gabriel, Munich (DE); and Philipp Christian Schillinger, Renningen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jun. 14, 2023, as Appl. No. 18/334,959.
Claims priority of application No. 10 2022 206 274.4 (DE), filed on Jun. 22, 2022.
Prior Publication US 2023/0415349 A1, Dec. 28, 2023
Int. Cl. B25J 9/16 (2006.01); G06T 7/00 (2017.01); G06T 11/00 (2006.01)
CPC B25J 9/1697 (2013.01) [G06T 7/0004 (2013.01); G06T 11/00 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/20212 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for controlling a robot for manipulating, including picking up, an object, comprising the following steps:
creating an image which depicts the object;
generating a manipulation-quality image from the image, in which, for each pixel which represents a point on a surface of the object, the pixel value of the pixel provides an assessment of how well the object may be manipulated at the point;
recording descriptors: (i) of points of the object which, according to a user input, should be used during the manipulation, and/or (ii) of points which, according to a user input, should be avoided during the manipulation;
mapping the image onto a descriptor image;
generating a manipulation-preference image by comparing the recorded descriptors of points to the descriptor image, wherein in the manipulation-preference image, for each pixel which represents a point on a surface of the object, a pixel value of the pixel provides an assessment of whether the object should be manipulated at the point;
selecting a point for manipulating the object taking into account the pixel values of the manipulation-quality image and the pixel values of the manipulation-preference image; and
controlling the robot to manipulate the object at the selected point.