WO2024035432A1

WO2024035432A1 - Sensor control system for coanda-based end effectors

Info

Publication number: WO2024035432A1
Application number: PCT/US2022/074767
Authority: WO
Inventors: Gokul Narayanan SATHYA NARAYANAN; Chengtao Wen; Ajay BALASUBRAMANIAN; Ian Chang; Nan Tian
Original assignee: Siemens Corporation
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2024-02-15

Abstract

Robots might interact with planar objects (e.g., garments) for process automation, quality control, to perform sewing operations, or the like. It is recognized herein that robots interacting with such planar objects can pose particular problems, for instance problems related to grasping garments. An end effector can include a clamp configured to move from an open position to a closed position in which the clamp holds a planar object against a surface. The end effector can further include a sensor control system comprising at least one sensor. The sensor control system can be configured to detect when the planar object is disposed against the surface. Furthermore, responsive to detecting that the planar object is disposed against the surface, the sensor control system can move the clamp from the open position to the closed position, so as to press the planar object against the surface.

Description

SENSOR CONTROL SYSTEM FOR COANDA-BASED END EFFECTORS

BACKGROUND

[0001] Robotics is a powerful tool for automating tasks inside and outside of the factory setting. Autonomous operations in dynamic environments may be applied to mass customization (e.g., high-mix, low-volume manufacturing), on-demand flexible manufacturing processes in smart factories, warehouse automation in smart stores, automated deliveries from distribution centers in smart logistics, and the like. In order to perform autonomous operations, such as grasping and manipulation, robots may learn skills through exploring the environment. In particular, for example, robots might interact with different planar objects under different situations. By way of example, robots might interact with planar objects (e.g., garments, textiles) for process automation and quality control. It is recognized herein that robots interacting with such planar objects can pose particular problems, for instance problems related to reliably grasping and holding flexible textile materials having various sizes and properties, particularly when such materials are stacked on top of each other.

BRIEF SUMMARY

[0002] Embodiments of the invention address and overcome one or more of the described- herein shortcomings or technical problems by providing methods, systems, and apparatuses for reliably grasping and transporting planar objects, such as textiles or garments. In particular, a sensor control system can detect and control a clamp of an end effector that generates the Coanda effect on materials, so as to reliably and efficiently grasp various materials.

[0003] In an example aspect, an end effector is configured to grasp a planar object. The end effector comprises a support member defining a surface configured to support the planar object. The end effector further comprises a clamp configured to move from an open position to a closed position in which the clamp holds the planar object against the surface. The end effector further comprises a sensor control system that includes at least one a sensor. The sensor control system can be configured to detect when the planar object is disposed against the surface. Responsive to detecting that the planar object is disposed against the surface, the sensor control system can move the clamp from the open position to the closed position, so as to press the planar object against the surface. In an example, the sensor is configured to detect a first distance between the sensor and the surface. In the example, the sensor control system is further configured to compare the first distance to a predetermined threshold. When the first distance is less than the predetermined threshold, the sensor control system can instruct the clamp to move from the open position to the closed position.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0004] The foregoing and other aspects of the present invention are best understood from the following detailed description when read in connection with the accompanying drawings. For the purpose of illustrating the invention, there is shown in the drawings embodiments that are presently preferred, it being understood, however, that the invention is not limited to the specific instrumentalities disclosed. Included in the drawings are the following Figures:

[0005] FIG. 1 shows an example system that includes an autonomous machine in an example physical environment that includes various planar objects in accordance with an example embodiment.

[0006] FIG. 2A is a perspective view of an example end effector of the autonomous machine shown in FIG. 1, wherein a clamp of the end effector is illustrated in an open position.

[0007] FIG. 2B is the perspective view of the end effector shown in FIG. 2A, but shows the clamp in a closed position.

[0008] FIG. 3A is another perspective view of the example end effector that illustrates an example sensor configured to detect a surface while the clamp is in the open position.

[0009] FIG 3B is the perspective view of the end effector and sensor shown in FIG. 3A, but shows the clamp in the closed position.

[0010] FIG. 4A is a front plan view of the example end effector, wherein the clamp is in the open position.

[0011] FIG. 4B is the front plan view of the end effector shown in FIG. 4B, but shows the clamp in the closed position.

[0012] FIG. 5A is a side plan view of the example end effector, wherein the clamp is in the open position.

[0013] FIG. 5B is the side plan view of the end effector shown in FIG. 5A, but shows the clamp in the closed position. [0014] FIG. 6A is another side plan view of the example end effector, wherein the clamp is in the open position and the side view is from the opposed side as compared to the side shown in FIGs. 5 A and 5B.

[0015] FIG. 6B is the side plan view of the end effector shown in FIG. 6A, but shows the clamp in the closed position.

[0016] FIG. 7 illustrates a computing environment within which embodiments of the disclosure may be implemented.

DETAILED DESCRIPTION

[0017] As an initial matter, it is recognized herein that flexible materials, such as garments or textiles, present various challenges for robots. For example, current robots often cannot pick a single garment from a pile of garments reliably. As a consequence of the difficulties in robots reliably grasping flexible materials, it is recognized herein that much manual labor is typically involved in handling garments, for instance in feeding garments into automated machines. By way of further example, the end of arm tooling typically used in current robots include suctionbased grippers and finger-based grippers. Neither of such grippers can reliably pick flexible materials, such as garments or textiles. Unless otherwise specified, planar objects, flexible materials, garments, and textiles can be used interchangeably herein, without limitation.

[0018] Coanda end effectors, as further described herein, can more reliably grasp flexible materials as compared to suction-based end effectors or finger-based end effectors. It is recognized herein that such end effectors have their own technical challenges. For example, the grasp point for various garments can vary, for instance based on the material of the garment, thickness of the garment, humidity in the environment, wrinkles in the garment from stacking or otherwise, and the like. Thus, it is recognized herein that current robotic systems that define Coanda-based end effectors might need, in some cases, to dynamically determine grasp points during operations, so as to more reliably and efficiently grasp and transport various flexible materials. In accordance with various embodiments described herein, a robotic system can define a sensor-based feedback control system for Coanda-based end-effectors, so as to dynamically determine grasp points and pick various garments reliably.

[0019] Referring now to FIG. 1, an example industrial or physical environment 100 is shown. As used herein, a physical environment can refer to any unknown or dynamic industrial environment. A reconstruction or model may define a virtual representation of the physical environment 100 or one or more planar objects 106 within the physical environment 100. For purposes of example, the planar objects 106 can also be referred to as garments or textile materials 106 without limitation, though it will be understood that the planar objects 106 can include any flat object or flexible material as desired, such as paper, cardboard, plastic sheets, metallic sheets, a combination thereof, or the like, and all such planar objects are contemplated as being within the scope of this disclosure. The physical environment 100 can include a computerized autonomous system 102 configured to perform one or more manufacturing operations, such as assembly, transport, or the like. The autonomous system 102 can include one or more robot devices or autonomous machines, for instance an autonomous machine or robot device 104, configured to perform one or more industrial tasks, such as bin picking, grasping, sewing, or the like. The system 102 can include one or more computing processors configured to process information and control operations of the system 102, in particular the autonomous machine 104. The autonomous machine 104 can include one or more processors, for instance a processor 108, configured to process information and/or control various operations associated with the autonomous machine 104. An autonomous system for operating an autonomous machine within a physical environment can further include a memory for storing modules. The processors can further be configured to execute the modules so as to process information and generate models based on the information. It will be understood that the illustrated environment 100 and the system 102 are simplified for purposes of example. The environment 100 and the system 102 may vary as desired, and all such systems and environments are contemplated as being within the scope of this disclosure.

[0020] Still referring to FIG. 1, the autonomous machine 104 can further include a robotic arm or manipulator 110 and a base 112 configured to support the robotic manipulator 110. The base 112 can include wheels 114 or can otherwise be configured to move within the physical environment 100. The autonomous machine 104 can further include an end effector 116 attached to the robotic manipulator 110. The end effector 116 can include one or more tools configured to grasp and/or move objects 106. Referring also to FIGs. 2A to 6B, the end effector 116 can define a Coanda-based end effector, as further described herein. The robotic manipulator 110 can be configured to move so as to change the position of the end effector 116, for example, so as to place or move objects 106 within the physical environment 100. The system 102 can further include one or more cameras or sensors, for instance a three- dimensional (3D) point cloud camera 118, configured to detect or record objects 106 within the physical environment 100. The camera 118 can be mounted to the robotic manipulator 110 or otherwise configured to generate a 3D point cloud of a given scene, for instance the physical environment 100.

[0021] Referring now to FIGs. 2A-6B, the end effector 116 can be configured to perform the Coanda effect on the objects (flexible materials) 106, so as to grasp the objects 106. Thus, the end effector 116 can be also referred to as a Coanda-based end effector 116. In particular, the end effector 116 can include a support member 202 that defines a surface 204 configured to support the planar objects 106. The end effector 116 can further include a clamp 206 configured to move from an open position (see, for e.g., FIGs. 2A, 3A, 4A, 5A, 6A) to a closed position (see, for e.g., FIGs. 2B, 3B, 4B, 5B, 6B) in which the clamp 206 holds the objects 106 against the surface 204. By way of example, the support member 202 and the clamp 206 can be composed of plastic, metal, or a combination thereof, among other materials.

[0022] The end effector 116 can define a bottom end 208 and a top end 210 opposite the bottom end 208 along a transverse direction 201. The top end 210 can be configured to attach to a robotic arm, for instance the robotic manipulator 110. The end effector 116 can further define a rear end 212 and a front end 214 opposite the rear end 212 along a longitudinal direction 203 that is substantially perpendicular to the transverse direction 201. The end effector 116 can include a housing 220 that defines the top end 210 and the rear end 212. The housing 220 can further define a first side 216 of the end effector 116 and a second side 218 of the end effector 116 opposite the first side 216 along a lateral direction 205 that is substantially perpendicular to both the transverse and longitudinal directions 201 and 203, respectively. The front end 214 can define an opening 222, and the bottom end 208 can define an opening 224. The end effector 116 can further include a nozzle 226 disposed at the bottom end 116 proximate to the support member 202. The nozzle 226 can be configured to blow air toward the front end 214 along the longitudinal direction 203. The end effector 116 can further include an air fence 236, which can be metallic or define an alternative material composition, disposed at the bottom end 208. During operation, the air fence 236 can maintain space or a gap along the transverse direction 201 between a portion of the garment and the support member 202, thereby facilitating the Coanda effect.

[0023] Referring in particular to FIGs. 3A-B, 5A-B, and 6A-B, the nozzle 226 can be directly behind the support member 202 such that that the nozzle 226 is closer to the rear end 212 as compared to the support member 202. The surface 204 can be curved such that the support member 202 defines a cylindrical shape. The nozzle 226 can be disposed directly behind the support member 202 so as to be configured to blow air toward the support member 202. In particular, the air jet from the nozzle 226 follow the surface 204 that is curved so as to travel upward along the transverse direction 201. The air jet traveling along the surface 204 and upward (toward the top end 210) along the transverse direction 210 can create an area of low pressure that defines the Coanda effect. In particular, the Coanda effect generated from the air flow can draw the flexible material or object 106 upward, such that the object 106 makes contact with, or wraps around, the surface 204. The clamp 206 can be configured to rotate downward (toward the bottom end 208) from the open position to the closed position, so as press or hold the object 106 against the surface 204. In particular, the clamp 206 can define a surface 228 that faces the surface 204 when the clamp 206 in the closed position. The surface 228 be curved so as to define a radius of curvature that equal to a radius of curvature defined by the surface 204 of the support member 202. Thus, the flexible material object 106 can be held firmly in between the surface 228 of the clamp 206 and the surface 204 of the support member 202 when the clamp 206 is in the closed position. The support member 206 can be attached to at least one, for instance both, of the first and second sides 216 and 218, respectively, of the housing 220.

[0024] Referring in particular to FIGs. 3A-B, 4A-4B, and 6A-B, the end effector 116 can further include a sensor control system 230 that defines at least one sensor, for instance a sensor 232, configured to detect when a given object 206 is disposed against the surface 204. The sensor control system 230 can be configured to, responsive to detecting that the planar object 106 is disposed against the surface 204, move the clamp 206 from the open position to the closed position, so as to press the planar object 106 against the surface 204. The end effector 116 can further include a mount 234 that is attached to at least one of the first and second sides 216 and 218, respectively. The mount 234 can be metallic or define an alternative material composition. In an example, the mount 234 can be attached to the first side 216 or the second side 218 at the front end 214 of the end effector 116. The sensor 232 can be mounted to the mount 234 so that the sensor 232 faces the surface 204. The sensor 232 can define a proximity sensor configured to measure a distance between the surface 204 and the sensor 232.

[0025] Proximity sensors, for instance the sensor 232, can detect a given object without touching the object. The sensor 232 be configured to detect objects that are not metal (e.g., garments), and thus the sensor 232 can define, for example and without limitation, a capacitive, infrared, or ultrasonic proximity sensor. By way of example, in some cases, the sensor 232 can define an infrared (IR) proximity sensor that includes an IR LED emitter and a detector. In particular, for example, a beam of IR light can be emitted from the emitter. The beam of light can hit an object and get reflected back in the detector. In various examples, a sensor (e.g., sensor 232) in the detector can determine the distance of the object, for instance the distance between the object and the sensor 232 along a detection direction 207. In some examples, values are tuned for a precise distance (which can define a calibration value) between the mount 234 or sensor 232, and the support member 202, along the detection direction 207. In various examples, if a garment is present on the support member 202, the garment can cover the surface 204 of the support member 204, such that distance along the detection direction 207 measured by the sensor 232 is less than the calibration value. Thus, the sensor 232 can detect the presence of the garment based on the detected distances as compared to the calibration value. [0026] Referring in particular to FIGs. 4A and 4B, the mount 234, and thus the sensor 232, can be spaced from the clamp 206 along the lateral direction 205, so as to allow the clamp 206 a free range of motion from the open position to the closed position, and visa-versa.

Additionally, the sensor 232 can be spaced from the surface 204 that the sensor 232 detects along the transverse and longitudinal directions 201 and 203, respectively. For example, the support member 202 can be disposed at the bottom end 208, and the sensor 232 can be positioned at the front end 214 so as to face the surface 204 of the support member 202. Thus, the sensor 232 can detect distances from the surface 204 to the sensor 232 along the detection direction 207 that is angularly offset as compared to the transverse and longitudinal directions 201 and 203.

[0027] In operation, the end effector 116 can be attached to a robotic arm, for instance the robotic manipulator 110, that defines various degrees of freedom, for instance degrees of freedom at least along the transverse, longitudinal, and lateral directions 201, 203, and 205 respectively, among others. In an example, the robotic manipulator 110 can move the end effector 116 toward an edge of a garment or object 106, for instance along the longitudinal direction 203 and the transverse direction 201. The end effector 116 can move toward the object 106 until the end effector 106 is located at a predetermined starting point. The starting point can be defined by coordinates. For example, the coordinates can define a point in space relative to the garment. Thus, the point can define a location along the transverse direction 201, the longitudinal direction 203, and the lateral direction 205. [0028] In an example operation, the end effector 116 can move downward along the transverse direction 201 toward an edge of a given garment or object 106 until the end effector 116 reaches the starting point. By way of example, and without limitation, the starting point might define that the bottom end 208 is spaced from the object 106 less than 1 centimeter along the transverse direction 201. By way of further example, and without limitation, the starting point might define that the front end 214 is about 5 centimeters from a edge of the object along the longitudinal direction, thought it will be understood that starting points can vary as desired, for instance based on the actual garment or stack of garments being grasped, and all such starting points are contemplated as being within the scope of this disclosure.

[0029] When the end effector 116 is moved to the staring point, the nozzle 226 can initiate airflow to enable the Coanda effect to take place. The robot manipulator 110 can begin to move the end effector 116 toward the garment, for instance toward the garment along the longitudinal direction 203, while maintaining the air flow from the nozzle 226. When the air flow is initiated, the sensor control system 230 can begin to monitor feedback from the sensor 232.

The sensor control system 230 can continue to monitor feedback from the sensor 232 as the end effector 206 moves toward the edge of the garment, for instance along the longitudinal direction 203. In particular, the sensor control system 230 can monitor the feedback from the sensor 232 to determine whether the garment has curled up and stuck to the cylindrical surface 204, in response to the Coanda effect. When the sensor 232 detects the presence of the garment on the surface 204, the control system 230 can signal or instruct the end effector 116 to move the clamp 206 into the closed position, and to stop the sliding motion of the end effector 116 along the longitudinal direction 203. In some cases, the sensor 232 can detect the garment after the clamp 206 has been moved into the closed position, so as to verify that the garment is between the clamp surface 228 and the surface 204 of the support member 202, and thereby verifying that the end effector 116 has grasped (not dropped) the garment.

[0030] In particular, when the end effector 116 is at the starting point, the sensor 232 can be configured to detect a distance, for instance a first distance, between the sensor 232 and the surface 204, for instance along the detection direction 207. The sensor control system 230 can compare distances, for instance the first distance, to a predetermined threshold. The predetermined threshold can be based on the distance between the sensor 232 and surface 204 of the support member 202 along the detection direction 207 when there is no garment or object 106 on the surface 204, such that there is no garment or object 106 between the sensor 232 and the support member 202 along the detection direction 207. In particular, in some cases, the predetermined threshold can be substantially equal to the distance between the sensor 232 and the surface 204 along the detection direction 207 when no garment is present between the sensor 232 and the surface 204. In some examples, the predetermined threshold is equal to the actual distance between the sensor 232 and the surface 204. By way of example, the sensor 232 can be arranged about 5 centimeters from the surface 204 along the detection direction 207, and thus the predetermined threshold can be about 5 centimeters. It will be understood that the sensors 232 can be arranged alternative distances from the surface 204 of the support member 202, thus the predetermined threshold can define alternative distances, and all such alternative distances are contemplated as being within the scope of this disclosure. For example, in some cases, the predetermined threshold is based on a thickness of the object 106 being grasped, so as to define a tolerance to account for noise from the sensor 232 and/or other environmental effects. In particular, for example, the planar object 106 can define a textile material having a thickness, and the predetermined threshold can be based on the textile material and the thickness.

[0031] After comparing the detected distance, for instance the first distance, to the predetermined threshold, the sensor control system 230 can take action based on the comparison. For example, when the distance, for instance the first distance, is less than the predetermined threshold, thereby indicating the presence of a garment between the sensor 232 and the support member 202, the sensor control system 230 can signal or otherwise instruct the clamp 206 to move from the open position to the closed position. After the clamp 206 is disposed in the closed position, the sensor control system 230 can detect distances, for instance a second distance, between the sensor 232 and the surface 204 along the detection direction 207. In an example, the sensor control system 230 can compare the first distance to the second distance, so as to determine whether the clamp 206 has successfully held the object 106 in place against the support member 202. For example, when the second distance is substantially equal to the first distance, the sensor control system 230 can determine that the clamp 206 holds the planar object 106 against the surface 204. When the second distance is greater than the first distance such that the second distance is greater than the predetermined threshold, the sensor control system 230 can determine that the planar object 106 is not disposed between the clamp 206 and the surface 204. [0032] By way of example, the object 106 can define a thickness that is detected by the sensor 230 along the detection direction 207. Thus, in various examples, the distance detected or measured between the sensor 232 and the surface 204 when a garment is present between the sensor 232 and the surface 204 is less than the distance detected between the sensor 232 and the surface 204 when no garment is present between the sensor 232 and the surface 204. In particular, for example, when a distance, for instance the first distance, is greater than the predetermined threshold, the sensor control system 230 can maintain the clamp 206 in the open position. The sensor control system 230 can also signal or otherwise instruct the robotic manipulator 110, and thus the end effector 116, to move the end effector 116 to a different or new position with respect to the planar object 106. The sensor control system 230 can re-detect the first distance when the end effector 116 is disposed in the different position, so as to determine whether the Coanda effect has occurred and the garment has curled against the surface 204 when the end effector 116 is in the new position.

[0033] In some cases, the sensor 232 can define a Boolean sensor, such that the sensor control system 230 returns 1 or 0 when the detected distance is less than the predetermined threshold (when the garment is detected), and returns the other of 1 or 0 when the detected distance is substantially equal (within a tolerance) of the predetermined threshold (no garment is detected). By way of an example, and without limitation, a given garment or object 106 might define a thickness along the detection direction of around 2 millimeters to 5 millimeters. Thus, in some cases, the predetermined threshold is equal to the distance between the sensor 230 and the surface 204 when there is no garment between the sensor 230 and the surface 204, less a tolerance distance (e.g., 1 millimeter) to account for noise and the like. In some examples, the sensor control system 230 continuously or cyclically monitors the distance between the sensor 232 and the surface 204, and returns a 1 (or 0) when the detected distance is less than the predetermined threshold. Additionally, or alternatively, the sensor control system 230 can continuously or cyclically (or in response to an event) verify that object 106 is grasped after the clamp 206 is moved to the closed position. For example, after grasping the object 106, the sensor 232 can return a 0 when the detected distance is greater than or equal to the predetermined threshold, thereby indicating that the object 106 is no longer held in position by the clamp 206.

[0034] In some cases, the Coanda effect is strong and the object 106 is grasped from the staring point during the first run of the end effector 116 along the longitudinal direction 203. It is recognized herein, however, that in some cases external factors (e.g., humidity, wrinkles in the garment, etc.) can influence the Coanda effect such that garments do not curl upward onto the surface 204. In these cases, the sensor control system 232 can define a feedback loop so as to calibrate the starting point of the end effector 116, for instance based on the type of textile material or stack of garments being grasped.

[0035] For example, the end effector 116 can begin at the starting point and when the object 106 is not detected, the sensor control system 230 can incrementally move the end effector 116 in a direction, for instance the transverse, longitudinal, or lateral directions 201, 203, and 205, respectively. After each incremental move, the sensor 232 can detect the distance between the sensor 232 and the surface 204, thereby detecting whether the Coanda effect has taken place on the object 106. When the Coanda effect has not taken place, and thus the detected distance is equal to or greater than the predetermined threshold, the sensor control system 230 can again incrementally move the end effector 116 in a direction, for instance the transverse, longitudinal, or lateral directions 201, 203, and 205. After the end effector 116 is moved, the sensor 232 detect the distance between the sensor 232 and the surface 204, thereby detecting whether the Coanda effect has taken place on the object 106. These incremental detections and feedback calibrate the end effector 116. For example, the end effector 116 can be moved incrementally in any direction until a limit of tries are reached, or until the object is detected. The result associated with each location (increment) of the end effector can be recorded by the sensor control system 230. In particular, when the sensor control system 230 detects the object 106 against the surface 204 and closes the clamp 206 at a given location, the sensor control system 230 can record the given location of the end effector 116. The given location can define a new starting point for the end effector 116 to begin blowing air the next time that the end effector 116 grasp the particular garment or stack of garments.

[0036] Without being bound by theory, such a calibration routine, such as the incremental detections described above, can enable faster and more efficient pick-ups. Similarly, the sensor control system 230 described herein can enable more reliable grasps of different garments using the Coanda effect as compared to previous approaches. In an example test, and without limitation, the sensor control system 230 defined a success rate of grasping various garments that was almost double that of an end effector lacking the sensor control system 230.

[0037] FIG. 7 illustrates an example of a computing environment within which embodiments of the present disclosure may be implemented. A computing environment 600 includes a computer system 610 that may include a communication mechanism such as a system bus 621 or other communication mechanism for communicating information within the computer system 610. The computer system 610 further includes one or more processors 620 coupled with the system bus 621 for processing the information. The autonomous system 102 may include, or be coupled to, the one or more processors 620.

[0038] The processors 620 may include one or more central processing units (CPUs), graphical processing units (GPUs), or any other processor known in the art. More generally, a processor as described herein is a device for executing machine-readable instructions stored on a computer readable medium, for performing tasks and may comprise any one or combination of, hardware and firmware. A processor may also comprise memory storing machine-readable instructions executable for performing tasks. A processor acts upon information by manipulating, analyzing, modifying, converting or transmitting information for use by an executable procedure or an information device, and/or by routing the information to an output device. A processor may use or comprise the capabilities of a computer, controller or microprocessor, for example, and be conditioned using executable instructions to perform special purpose functions not performed by a general purpose computer. A processor may include any type of suitable processing unit including, but not limited to, a central processing unit, a microprocessor, a Reduced Instruction Set Computer (RISC) microprocessor, a Complex Instruction Set Computer (CISC) microprocessor, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), a System-on-a-Chip (SoC), a digital signal processor (DSP), and so forth. Further, the processor(s) 620 may have any suitable micro architecture design that includes any number of constituent components such as, for example, registers, multiplexers, arithmetic logic units, cache controllers for controlling read/write operations to cache memory, branch predictors, or the like. The micro architecture design of the processor may be capable of supporting any of a variety of instruction sets. A processor may be coupled (electrically and/or as comprising executable components) with any other processor enabling interaction and/or communication there-between. A user interface processor or generator is a known element comprising electronic circuitry or software or a combination of both for generating display images or portions thereof. A user interface comprises one or more display images enabling user interaction with a processor or other device. [0039] The system bus 621 may include at least one of a system bus, a memory bus, an address bus, or a message bus, and may permit exchange of information (e.g., data (including computer-executable code), signaling, etc.) between various components of the computer system 610. The system bus 621 may include, without limitation, a memory bus or a memory controller, a peripheral bus, an accelerated graphics port, and so forth. The system bus 621 may be associated with any suitable bus architecture including, without limitation, an Industry Standard Architecture (ISA), a Micro Channel Architecture (MCA), an Enhanced ISA (EISA), a Video Electronics Standards Association (VESA) architecture, an Accelerated Graphics Port (AGP) architecture, a Peripheral Component Interconnects (PCI) architecture, a PCI-Express architecture, a Personal Computer Memory Card International Association (PCMCIA) architecture, a Universal Serial Bus (USB) architecture, and so forth.

[0040] Continuing with reference to FIG. 7, the computer system 610 may also include a system memory 630 coupled to the system bus 621 for storing information and instructions to be executed by processors 620. The system memory 630 may include computer readable storage media in the form of volatile and/or nonvolatile memory, such as read only memory (ROM) 631 and/or random access memory (RAM) 632. The RAM 632 may include other dynamic storage device(s) (e.g., dynamic RAM, static RAM, and synchronous DRAM). The ROM 631 may include other static storage device(s) (e.g., programmable ROM, erasable PROM, and electrically erasable PROM). In addition, the system memory 630 may be used for storing temporary variables or other intermediate information during the execution of instructions by the processors 620. A basic input/output system 633 (BIOS) containing the basic routines that help to transfer information between elements within computer system 610, such as during start-up, may be stored in the ROM 631. RAM 632 may contain data and/or program modules that are immediately accessible to and/or presently being operated on by the processors 620. System memory 630 may additionally include, for example, operating system 634, application programs 635, and other program modules 636. Application programs 635 may also include a user portal for development of the application program, allowing input parameters to be entered and modified as necessary.

[0041] The operating system 634 may be loaded into the memory 630 and may provide an interface between other application software executing on the computer system 610 and hardware resources of the computer system 610. More specifically, the operating system 634 may include a set of computer-executable instructions for managing hardware resources of the computer system 610 and for providing common services to other application programs (e.g., managing memory allocation among various application programs). In certain example embodiments, the operating system 634 may control execution of one or more of the program modules depicted as being stored in the data storage 640. The operating system 634 may include any operating system now known or which may be developed in the future including, but not limited to, any server operating system, any mainframe operating system, or any other proprietary or non-proprietary operating system.

[0042] The computer system 610 may also include a disk/media controller 643 coupled to the system bus 621 to control one or more storage devices for storing information and instructions, such as a magnetic hard disk 641 and/or a removable media drive 642 (e.g., floppy disk drive, compact disc drive, tape drive, flash drive, and/or solid state drive). Storage devices 640 may be added to the computer system 610 using an appropriate device interface (e.g., a small computer system interface (SCSI), integrated device electronics (IDE), Universal Serial Bus (USB), or FireWire). Storage devices 641, 642 may be external to the computer system 610. [0043] The computer system 610 may also include a field device interface 665 coupled to the system bus 621 to control a field device 666, such as a device used in a production line. The computer system 610 may include a user input interface or GUI 661, which may comprise one or more input devices, such as a keyboard, touchscreen, tablet and/or a pointing device, for interacting with a computer user and providing information to the processors 620.

[0044] The computer system 610 may perform a portion or all of the processing steps of embodiments of the invention in response to the processors 620 executing one or more sequences of one or more instructions contained in a memory, such as the system memory 630. Such instructions may be read into the system memory 630 from another computer readable medium of storage 640, such as the magnetic hard disk 641 or the removable media drive 642. The magnetic hard disk 641 (or solid state drive) and/or removable media drive 642 may contain one or more data stores and data files used by embodiments of the present disclosure. The data store 640 may include, but are not limited to, databases (e.g., relational, object-oriented, etc.), file systems, flat files, distributed data stores in which data is stored on more than one node of a computer network, peer-to-peer network data stores, or the like. The data stores may store various types of data such as, for example, skill data, sensor data, or any other data generated in accordance with the embodiments of the disclosure. Data store contents and data files may be encrypted to improve security. The processors 620 may also be employed in a multi-processing arrangement to execute the one or more sequences of instructions contained in system memory 630. In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.

[0045] As stated above, the computer system 610 may include at least one computer readable medium or memory for holding instructions programmed according to embodiments of the invention and for containing data structures, tables, records, or other data described herein. The term “computer readable medium” as used herein refers to any medium that participates in providing instructions to the processors 620 for execution. A computer readable medium may take many forms including, but not limited to, non-transitory, non-volatile media, volatile media, and transmission media. Non-limiting examples of non-volatile media include optical disks, solid state drives, magnetic disks, and magneto-optical disks, such as magnetic hard disk 641 or removable media drive 642. Non-limiting examples of volatile media include dynamic memory, such as system memory 630. Non-limiting examples of transmission media include coaxial cables, copper wire, and fiber optics, including the wires that make up the system bus 621. Transmission media may also take the form of acoustic or light waves, such as those generated during radio wave and infrared data communications.

[0046] Computer readable medium instructions for carrying out operations of the present disclosure may be assembler instructions, instruction- set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, statesetting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0047] Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, may be implemented by computer readable medium instructions.

[0048] The computing environment 600 may further include the computer system 610 operating in a networked environment using logical connections to one or more remote computers, such as remote computing device 680. The network interface 670 may enable communication, for example, with other remote devices 680 or systems and/or the storage devices 641, 642 via the network 671. Remote computing device 680 may be a personal computer (laptop or desktop), a mobile device, a server, a router, a network PC, a peer device or other common network node, and typically includes many or all of the elements described above relative to computer system 610. When used in a networking environment, computer system 610 may include modem 672 for establishing communications over a network 671, such as the Internet. Modem 672 may be connected to system bus 621 via user network interface 670, or via another appropriate mechanism.

[0049] Network 671 may be any network or system generally known in the art, including the Internet, an intranet, a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a direct connection or series of connections, a cellular telephone network, or any other network or medium capable of facilitating communication between computer system 610 and other computers (e.g., remote computing device 680). The network 671 may be wired, wireless or a combination thereof. Wired connections may be implemented using Ethernet, Universal Serial Bus (USB), RJ-6, or any other wired connection generally known in the art. Wireless connections may be implemented using Wi-Fi, WiMAX, and Bluetooth, infrared, cellular networks, satellite or any other wireless connection methodology generally known in the art. Additionally, several networks may work alone or in communication with each other to facilitate communication in the network 671. [0050] It should be appreciated that the program modules, applications, computer-executable instructions, code, or the like depicted in FIG. 7 as being stored in the system memory 630 are merely illustrative and not exhaustive and that processing described as being supported by any particular module may alternatively be distributed across multiple modules or performed by a different module. In addition, various program module(s), script(s), plug-in(s), Application Programming Interface(s) (API(s)), or any other suitable computer-executable code hosted locally on the computer system 610, the remote device 680, and/or hosted on other computing device(s) accessible via one or more of the network(s) 671, may be provided to support functionality provided by the program modules, applications, or computer-executable code depicted in FIG. 7 and/or additional or alternate functionality. Further, functionality may be modularized differently such that processing described as being supported collectively by the collection of program modules depicted in FIG. 7 may be performed by a fewer or greater number of modules, or functionality described as being supported by any particular module may be supported, at least in part, by another module. In addition, program modules that support the functionality described herein may form part of one or more applications executable across any number of systems or devices in accordance with any suitable computing model such as, for example, a client-server model, a peer-to-peer model, and so forth. In addition, any of the functionality described as being supported by any of the program modules depicted in FIG. 7 may be implemented, at least partially, in hardware and/or firmware across any number of devices.

[0051] It should further be appreciated that the computer system 610 may include alternate and/or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. More particularly, it should be appreciated that software, firmware, or hardware components depicted as forming part of the computer system 610 are merely illustrative and that some components may not be present or additional components may be provided in various embodiments. While various illustrative program modules have been depicted and described as software modules stored in system memory 630, it should be appreciated that functionality described as being supported by the program modules may be enabled by any combination of hardware, software, and/or firmware. It should further be appreciated that each of the above-mentioned modules may, in various embodiments, represent a logical partitioning of supported functionality. This logical partitioning is depicted for ease of explanation of the functionality and may not be representative of the structure of software, hardware, and/or firmware for implementing the functionality. Accordingly, it should be appreciated that functionality described as being provided by a particular module may, in various embodiments, be provided at least in part by one or more other modules. Further, one or more depicted modules may not be present in certain embodiments, while in other embodiments, additional modules not depicted may be present and may support at least a portion of the described functionality and/or additional functionality. Moreover, while certain modules may be depicted and described as sub-modules of another module, in certain embodiments, such modules may be provided as independent modules or as sub-modules of other modules.

[0052] Although specific embodiments of the disclosure have been described, one of ordinary skill in the art will recognize that numerous other modifications and alternative embodiments are within the scope of the disclosure. For example, any of the functionality and/or processing capabilities described with respect to a particular device or component may be performed by any other device or component. Further, while various illustrative implementations and architectures have been described in accordance with embodiments of the disclosure, one of ordinary skill in the art will appreciate that numerous other modifications to the illustrative implementations and architectures described herein are also within the scope of this disclosure. In addition, it should be appreciated that any operation, element, component, data, or the like described herein as being based on another operation, element, component, data, or the like can be additionally based on one or more other operations, elements, components, data, or the like. Accordingly, the phrase “based on,” or variants thereof, should be interpreted as “based at least in part on.”

[0053] Although embodiments have been described in language specific to structural features and/or methodological acts, it is to be understood that the disclosure is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as illustrative forms of implementing the embodiments. Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments could include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.

[0054] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the Figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

Claims

CLAIMS What is claimed is:

1. An end effector configured to grasp a planar object, the end effector comprising: a support member defining a surface configured to support the planar object; a clamp configured to move from an open position to a closed position in which the clamp holds the planar object against the surface; and a sensor control system comprising a sensor, the sensor control system configured to: detect when the planar object is disposed against the surface; and responsive to detecting that the planar object is disposed against the surface, move the clamp from the open position to the closed position, so as to press the planar object against the surface.

2. The end effector as recited in claim 1, wherein the sensor is configured to detect a first distance between the sensor and the surface.

3. The end effector as recited in claim 2, wherein the sensor control system is further configured to: compare the first distance to a predetermined threshold; and when the first distance is less than the predetermined threshold, instruct the clamp to move from the open position to the closed position.

4. The end effector as recited in claim 3, wherein the sensor control system is further configured to: after the clamp is disposed in the closed position, detect a second distance between the sensor and the surface; compare the first distance to the second distance; when the second distance is substantially equal to the first distance, determine that the clamp holds the planar object against the surface; and when the second distance is greater than the first distance such that the second distance is greater than the predetermined threshold, determine that the planar object is not disposed between the clamp and the surface.

5. The end effector as recited in claim 3, wherein the sensor control system is further configured to: when the first distance is greater than the predetermined threshold, maintain the clamp in the open position; instruct the end effector to move to a different position with respect to the planar object; and re-detect the first distance when the end effector is disposed in the different position.

6. The end effector as recited in claim 3, wherein the planar object defines a textile material having a thickness, and the predetermined threshold is based on the textile material and the thickness.

7. The end effector as recited in claim 1, the end effector further comprising: a bottom end and a top end opposite the bottom end along a transverse direction, the top end configured to attached to a robotic arm; and a rear end and a front end opposite the rear end along a longitudinal direction that is substantially perpendicular to the transverse direction, wherein the support member is disposed at the bottom end, and the sensor is positioned at the front end so as to face the surface of the support member.

8. The end effector as recited in claim 7, wherein the end effector further comprising: a housing that defines the top end, a first side and a second side opposite the first side along a lateral direction that is substantially perpendicular to both the transverse and longitudinal directions; and a mount attached to at least one of the first and second sides at the front end, the sensor mounted to the mount.

9. The end effector as recited in claim 8, wherein the sensor is spaced from the clamp along the lateral direction.

10. The end effector as recited in claim 9, wherein the sensor is spaced from the surface that the sensor detects along the transverse and longitudinal directions.

11. The end effector as recited in any one of the preceding claims, wherein the surface is curved such that the support member defines a cylindrical shape.

12. A method performed by an end effector of a robot, the end effector defining a sensor control system that comprises a sensor, and a support member that defines a surface, the method comprising: detecting, by the sensor control system, that a planar object is disposed against the surface; and in response to detecting that the planar object is disposed against the surface, moving a clamp from an open position to a closed position, wherein the planar object is pressed against the surface by the clamp in the closed position.

13. The method as recited in claim 12, the method further comprising: detecting, by the sensor control system, a first distance between the sensor and the surface.

14. The method as recited in claim 13, the method further comprising: comparing the first distance to a predetermined threshold; and when the first distance is less than the predetermined threshold, moving the clamp from the open position to the closed position.

15. The method as recited in claim 14, the method further comprising: after the clamp is disposed in the closed position, detecting a second distance between the sensor and the surface; comparing the first distance to the second distance; when the second distance is substantially equal to the first distance, determining that the clamp holds the planar object against the surface; and when the second distance is greater than the first distance such that the second distance is greater than the predetermined threshold, determining that the planar object is not disposed between the clamp and the surface.

16. The method as recited in claim 14, the method further comprising: when the first distance is greater than the predetermined threshold, maintaining the clamp in the open position; instructing the robot to move the end effector a different position with respect to the planar object; and re-detecting the first distance when the end effector is disposed in the different position.

17. The end effector as recited in claim 14, wherein the planar object defines a textile material having a thickness, and the predetermined threshold is based on the textile material and the thickness.

18. The end effector as recited in claim 12, the method further comprising: before detecting that the planar object is disposed against the surface, blowing air toward the planar object so as to generate a Coanda effect on the planar object.