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

Claim 0:
1. A system for perceiving a dish, planning its handling, and controlling its motion, comprising:
a. a cabinet holding said dish collocated with a plurality of other dishes;
b. a diffuse light source for illuminating dishes and a structured light source for illuminating dishes with a structured pattern;
c. a camera for capturing a diffuse image of said dishes when illuminated with said diffuse light source and a camera for capturing a structured image of said dishes when illuminated with said structured light source;
d. a robotic arm to pick up, hold, move or drop-off said dish;
e. a processor configured to:
i. classify said diffuse image using a dish detection model to determine the presence of a dish;
ii. classify said diffuse image using a dish identification model to determine the type of said dish;
iii. capture said structured image when at least one dish is placed, removed or relocated;
iv. estimate 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;
v. estimate a collision-free trajectory for said robotic arm using a planning model with said positions and orientations of said dish and its neighbors,

whereby said dish is detected, identified, and localized to securely move it from one location to another.