The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 04, 2023
Filed:
Mar. 03, 2021
Kabushiki Kaisha Toshiba, Tokyo, JP;
Ping Jiang, Ota Tokyo, JP;
Yoshiyuki Ishihara, Kawasaki Kanagawa, JP;
Akihito Ogawa, Fujisawa Kanagawa, JP;
Atsushi Sugahara, Kawasaki Kanagawa, JP;
Seiji Tokura, Kawasaki Kanagawa, JP;
Haruna Eto, Kawasaki Kanagawa, JP;
Kazuma Komoda, Kawasaki Kanagawa, JP;
Kabushiki Kalsha Toshiba, Tokyo, JP;
Abstract
A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.