公开(公告)号：US20240033936A1

公开(公告)日：2024-02-01

申请号：US18377086

申请日：2023-10-05

申请人： Berkshire Grey Operating Company, Inc.

发明人： Yu DING ,  Christopher GEYER ,  Luis GALUP ,  Jeffrey KITTREDGE ,  Thomas KOLETSCHKA ,  Lakshman KUMAR ,  Anjana NELLITHIMARU ,  Ryan O'HERN ,  Jeremy SASLAW

IPC分类号： B25J9/16 ,  G06T7/80 ,  G06T7/70 ,  G06V10/25 ,  G06V10/147

CPC分类号： B25J9/1697 ,  G06T7/80 ,  G06T7/70 ,  B25J9/1692 ,  G06V10/25 ,  G06V10/147 ,  G06T2207/30208 ,  G05B2219/37009

摘要： A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.

公开(公告)号：US20240199349A1

公开(公告)日：2024-06-20

申请号：US18541075

申请日：2023-12-15

申请人： Berkshire Grey Operating Company, Inc.

发明人： Ashwin DESHPANDE ,  Jeremy SASLAW ,  Luis GALUP ,  Kyle BROWN ,  Ryan O'HERN ,  Michael KOSSYREV ,  Vitalii RUSSINKOVSKII ,  Christopher GEYER ,  Benjamin COHEN

IPC分类号： B65G47/90

CPC分类号： B65G47/905 ,  B65G2201/0238

摘要： A system is disclosed for processing objects using a programmable motion device. The system includes an end-effector of the programmable motion device for grasping an object from an in-feed container, and a control system for determining a payload guard for the selected object. The payload guard includes pointcloud data regarding volumetric data that include a volume occupied by the selected object, and the payload guard is determined responsive to at least one characteristic of the selected object and is provided specific to the selected object.