System and/or method for conveyor motion estimation
AssigneeChef Robotics, Inc.
InventorsNorberto A. Goussies, Clement Creusot
Life of this patent
Estimating the term…
Abstract
The method can include: sampling images of a conveyor region S110; determining a set of patches S120; estimating a displacement for each patch S130; estimating a conveyor motion parameter(s) based on the patch displacement S140; and optionally performing an action based on the conveyor motion parameter S150. However, the method S100 can additionally or alternatively include any other suitable elements. The method S100 functions to estimate a set of conveyor motion parameters (e.g., conveyor speed). Additionally or alternatively, the method can function to enable dynamic control of an independent robotic assembly system(s) to accommodate conveyor motion changes.
Claims20
A method of image-based estimation of conveyor motion for a robot operating along a conveyor line, an intersection of a workspace of the robot and the conveyor line defining a conveyor region along the conveyor line, the method comprising:
- at a first time, sampling a first image frame of a conveyor region with a set of cameras;
- at a second time, sampling a second image frame with the set of cameras;
- determining a plurality of image patches within the first image frame;
- estimating a respective displacement for each image patch between the first and second image frames;
- classifying a first subset of the plurality of image patches as dynamic image patches based on the respective displacement;
- estimating a conveyor motion parameter for the conveyor line based on the respective displacement of each dynamic image patch of the first subset;
- and
- dynamically controlling the robot based on the conveyor motion parameter.
A method of image-based estimation of conveyor motion for a robot operating along a conveyor line, comprising:
- periodically sampling image frames from a set of cameras above a conveyor line;
- for each pair of consecutive image frames of the conveyor line:
- determining a plurality of image patches;
- for each image patch, estimating a displacement and a confidence score by phase correlation of the image patch between the consecutive image frames;
- and
- estimating a conveyor motion parameter based on the displacements and confidences scores of the image patches;
- and
- dynamically controlling the robot based on the conveyor motion parameter estimated for each pair of consecutive image frames.
Dependencies are inferred from the claim text.