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US 11,688,030 B2Granted
Shading topography imaging for robotic unloading
AssigneesFrito-Lay North America, Inc., Graftek Imaging Inc.
InventorsRomik Chatterjee, Thomas M. Sterritt, Evan N. Sanford, Clark A. Turpin, Robert Eastlund, Christopher Koci, Nicholas Conrad, Vincent Ip, Sih Ying Wu
Life of this patent
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Abstract
Vision systems for robotic assemblies for handling cargo, for example, unloading cargo from a trailer, can determine the position of cargo based on shading topography. Shading topography imaging can be performed by using light sources arranged at different positions relative to the image capture device(s).
Claims21
A robotic assembly for handling cargo, the assembly comprising:
- at least one robotic appendage for handling cargo;
- and
- a vision system for acquiring information to assist operation of the at least one robotic appendage, the vision system comprising:
- at least two light sources arranged spaced apart from each other by a distance;
- at least one camera configured to capture images of cargo for handling by the robotic assembly;
- and
- a vision control system for determining position of cargo, the vision control system including at least one processor for executing instructions stored on a memory to determine position of cargo based on a shading topography image comprising a blended composite of information of a plurality of images captured by the at least one camera.
4 more elements
A vision system of a robotic assembly for handling cargo, the vision system comprising:
- at least two of light sources arranged spaced apart from each other by a distance;
- at least one camera configured to capture images of cargo for handling by the robotic assembly;
- and
- a vision control system for determining position of cargo, the vision control system including at least one processor for executing instructions stored on a memory to determine position of cargo based on a shading topography image comprising a blended composite of information of a plurality of images captured by the at least one camera.
1 more element
Dependencies are inferred from the claim text.