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US 12,196,599 B2Granted
Multiple object detection
AssigneeOcado Innovation Limited
InventorsJames Sterling Bergstra, David Gabriel Hallock
Life of this patent
Estimating the term…
Abstract
A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.
Claims20
A singulation system, comprising:
- a container configured to receive singulated objects from a collection of objects to be singulated;
- a robotic manipulator configured to pick up an individual object from the collection of objects;
- a sensor configured to measure a weight of the individual object;
- and
- a computer system configured to:
- determine an acceptable range of weights for the individual object based on an expected range of weights, the expected range of weights having been learned from measured weights of singulated objects of a same class as the individual object;
- and
- compare the measured weight of the individual object to the acceptable range of weights for the individual object to determine whether the individual object was successfully singulated.
5 more elements
A singulation apparatus, comprising:
- a robotic manipulator configured to pick up an individual object from a collection of objects;
- a sensor configured to measure a weight of the individual object;
- and
- a computer system configured to:
- determine an acceptable range of weights for the individual object based on an expected range of weights, the expected range of weights having been learned from measured weights of singulated objects of a same class as the individual object;
- and
- compare the measured weight of the individual object to the acceptable range of weights for the individual object to determine whether the individual object was successfully singulated.
4 more elements
Dependencies are inferred from the claim text.