Patent ID: 11938640
Assignee: DISHCARE INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC B  G  A  H | IPC A  B  G  H

Claim 12:
13. A method for perceiving a dish, planning its handling, and controlling its motion, comprising:
a. holding said dish with a plurality of other collocated dishes in a cabinet;
b. illuminating dishes with a diffuse light and illuminating dishes with a structured pattern;
c. capturing a diffuse image of said dishes when illuminated with said diffuse light and capturing a structured image of said dishes when illuminated with said structured pattern;
d. classifying said diffuse image using a dish detection model to determine the presence of a dish;
e. classifying said diffuse image using a dish identification model to determine the type of said dish;
f. capturing said structured image when at least one dish is placed, removed or relocated;
g. estimating the position and orientation of said dish and the positions and orientations of dishes neighboring to said dish using a dish localization model with said diffuse image and said structured image;
h. estimating a collision-free trajectory for a robotic arm using a planning model with said positions and orientations of said dish and its neighbors,
i. picking up, holding, or dropping off said dish with said robotic arm using said trajectory,
whereby said dish is detected, identified, and localized to securely move it from one location to another.