Methods and systems for recognizing machine-readable information on three-dimensional objects
First Claim
1. A system comprising:
- a robotic manipulator;
one or more optical sensors;
at least one processor; and
data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising;
based on data indicating that a machine-readable code is included on at least one face of at least one physical object, causing the robotic manipulator to grasp the at least one physical object at one or more locations on the at least one physical object different from the at least one face and move the at least one physical object through a designated area in space of a physical environment of the system such that the at least one face of the at least one physical object moves within a particular field of view of the one or more optical sensors,causing the one or more optical sensors to (i) determine a location of the machine-readable code on the at least one physical object as the at least one physical object is moved through the designated area in space and (ii) based on the determined location, scan the machine-readable code as the at least one physical object is moved through the designated area in space so as to determine information associated with the at least one physical object encoded in the machine-readable code, andbased on the information associated with the at least one physical object, determining a respective location in the physical environment at which to cause the robotic manipulator to place the at least one physical object.
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Accused Products
Abstract
Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.
179 Citations
13 Claims
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1. A system comprising:
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a robotic manipulator; one or more optical sensors; at least one processor; and data storage comprising instructions executable by the at least one processor to cause the system to perform functions comprising; based on data indicating that a machine-readable code is included on at least one face of at least one physical object, causing the robotic manipulator to grasp the at least one physical object at one or more locations on the at least one physical object different from the at least one face and move the at least one physical object through a designated area in space of a physical environment of the system such that the at least one face of the at least one physical object moves within a particular field of view of the one or more optical sensors, causing the one or more optical sensors to (i) determine a location of the machine-readable code on the at least one physical object as the at least one physical object is moved through the designated area in space and (ii) based on the determined location, scan the machine-readable code as the at least one physical object is moved through the designated area in space so as to determine information associated with the at least one physical object encoded in the machine-readable code, and based on the information associated with the at least one physical object, determining a respective location in the physical environment at which to cause the robotic manipulator to place the at least one physical object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method performed by a computing device, the method comprising:
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based on data indicating that machine-readable information is included on at least one face of at least one physical object, causing a robotic manipulator to grasp the at least one physical object at one or more locations on the at least one physical object different from the at least one face and move the at least one physical object through a designated area in space such that the at least one face of the at least one physical object moves within a particular field of view of the one or more optical sensors, wherein the machine-readable information comprises information associated with the at least one physical object; determining, via one or more optical sensors, a location of the machine-readable information included on the at least one physical object as the at least one physical object is moved through the designated area in space; based on the determined location and further based on a scanning of the machine-readable information by the one or more optical sensors as the at least one physical object is moved through the designated area in space, receiving the information associated with the at least one physical object; based on the information associated with the at least one physical object, determining a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object; and causing the robotic manipulator to move the at least one physical object to the respective location. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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Specification