Method for invalidating sensor measurements after a picking action in a robot system
AssigneeZenrobotics Oy
InventorsHarri Valpola, Tuomas Lukka
Life of this patent
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Abstract
The invention relates to a method and system for invalidating sensor measurements after a sorting action on a target area of a robot sorting system. In the method there are obtained sensor measurements using sensors from a target area. A first image is captured of the target area using a sensor over the target area. A first sorting action is performed in the target area using a robot arm based on the sensor measurements and the first image. Thereupon, a second image of the target area is captured using a sensor over the target area. The first and the second images are compared to determine invalid areas in the target area. The invalid areas are avoided in future sorting actions based on the sensor measurements.
Claims20
A method, comprising:
- obtaining at least two sensor measurements using at least one sensor from a target area;
- forming a first image of the target area;
- performing a first sorting action in the target area based on at least a first sensor measurement among the at least two sensor measurements;
- forming a second image of the target area;
- comparing the first image and the second image to determine an invalid area in the target area, wherein an area with low correlation between the first image and the second image is selected as the invalid area;
- and
- avoiding the invalid area in at least one second sorting action in the target area, the second sorting action being based on at least a second sensor measurement among the at least two sensor measurements.
An apparatus comprising at least one processor configured
- to obtain at least two sensor measurements using at least one sensor from a target area,
- to form a first image of the target area,
- to perform a first sorting action in the target area based on at least a first sensor measurement among the at least two sensor measurements,
- to form a second image of the target area,
- to compare the first image and the second image to determine an invalid area in the target area, wherein an area with low correlation between the first image and the second image is selected as the invalid area, and
- to avoid the invalid area in at least one second sorting action in the target area, the second sorting action being based on at least a second sensor measurement among the at least two sensor measurements.
An apparatus, comprising:
- means for obtaining at least two sensor measurements using at least one sensor from a target area;
- means for forming a first image of the target area;
- means for performing a first sorting action in the target area based on a first sensor measurement among the at least two sensor measurements;
- means for forming a second image of the target area;
- means for comparing the first and the second image to determine an invalid area in the target area, wherein an area with low correlation between the first image and the second image is selected as the invalid area;
- and
- means for avoiding the invalid area in at least one second sorting action in the target area, the second sorting action being based on at least a second sensor measurement among the at least two sensor measurements.
A computer program comprising code adapted to cause a processor to perform the following steps when executed on a data-processing system:
- obtaining at least two sensor measurements using at least one sensor from a target area;
- forming a first image of the target area;
- performing a first sorting action in the target area based on at least a first sensor measurement among the at least two sensor measurements;
- forming a second image of the target area;
- comparing the first image and the second image to determine an invalid area in the target area, wherein an area with low correlation between the first image and the second image is selected as the invalid area;
- and
- avoiding the invalid area in at least one second sorting action in the target area, the second sorting action being based on at least a second sensor measurement among the at least two sensor measurements.
Dependencies are inferred from the claim text.