Vision-guided robotics for in-line mushroom packaging and weight determination and control

A system for inline vision-guided robotics comprises:

• an infeed conveyor including a line scan camera configured to capture image data and depth data;
• a check weight conveyor configured to weigh a produce container in motion;
• a robot configured to adapt movement speed and path in real-time based on produce size and orientation;
• a processor;
• and
• a memory, including instructions, which when executed by the processor, cause the system to:
• capture image data and depth data of the produce container on the infeed conveyor;
• weigh the produce container in motion on the check weight conveyor;
• identify over or underweight conditions for the produce container based on the weight of the produce container;
• classify produce orientation of produce in the produce container based on image data and depth data using a trained instance segmentation model based on image data and depth data;
• determine target pick points based on the classification, geometric characteristics of the produce, and the depth data;
• and
• select, using the robot, produce from or placing produce into a weighted buffer queue to meet target weights based on the over or underweight conditions of the produce container and the classified produce.