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:
Oct. 17, 2023
Filed:
Nov. 16, 2018
Ocado Innovation Limited, Hatfield, GB;
Graham Deacon, Hatfield, GB;
Osemwaro Pedro, Hatfield, GB;
OCADO INNOVATION LIMITED, Hatfield, GB;
Abstract
A control device is provided to reliably locate objects and calculate appropriate grasp points for each object to thereby effectively control a robot system. grasp point calculation is based on, at least, properties of a surface of the object to be grasped by the robot system to more effectively calculate a grasp point for the surface of the object. An organised point cloud generator and a robot system having a suction cup end are arranged to generate an organised point cloud of a storage. The robot system can grasp the object from the storage means. Normals of the organised point cloud and principal curvatures of the organised point cloud can be calculated. A grasp point can be calculated for the suction cup end effector of the robot system to grasp an object based on the organised point cloud, the calculated normal, the calculated principal curvatures, and a normal of a lower surface of the storage.