Mobile Robot Conveyor Placement Using Vision-Based Velocity Detection
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Solution Overview
Problem
Mobile robots in warehouse environments face limitations in determining conveyor velocity, leading to reduced pick rates due to unforeseen conveyor discrepancies, which can cause idle times and inefficiencies.
Innovation Solution
The mobile robot uses onboard cameras to capture image data over time, determining conveyor velocity by analyzing 2D and 3D geometry of objects on the conveyor, allowing it to adjust its operation speed and placement strategies to maintain efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the mobile robot uses sensors to determine conveyor velocity, then the robot can detect conveyor speed, but the measurement precision is insufficient leading to inaccurate velocity determination
Solution Approach 1:
The patent introduces an intermediary object (the first object placed on the conveyor) as a mediator to indirectly measure conveyor velocity. Instead of directly measuring the conveyor belt, the system tracks the motion of the placed object which reflects the conveyor's velocity, thereby achieving accurate measurement through the intermediary medium.
Solution Approach 2:
The patent replaces mechanical velocity sensors with an optical measurement system using cameras and image processing. The system captures images of the placed object at different times and uses computational methods to determine velocity from the sequence of images, substituting mechanical sensing with optical and computational approaches.
2Productivity
If the mobile robot operates at high speed to increase pick rate, then productivity improves, but the robot cannot accurately determine when the conveyor is clear leading to placement errors
Solution Approach 1:
The patent applies preliminary action by determining the clear region on the conveyor before the robot needs to place the next object. The system calculates the clear region based on the current position of the first object and the conveyor velocity, allowing the robot to plan its placement action in advance and maintain high-speed operation without sacrificing accuracy.
Solution Approach 2:
The system uses feedback from image sensors to continuously monitor the conveyor state and adjust the clear region determination accordingly. By receiving real-time feedback about the actual position and motion of objects on the conveyor, the robot can accurately determine when the conveyor is clear even at high operating speeds.
3Reliability
If the mobile robot waits for the conveyor to clear before placing objects, then placement accuracy is maintained, but idle time increases reducing overall efficiency
Solution Approach 1:
The patent enables preliminary determination of the clear region before the robot actually needs to place an object. By calculating the clear region in advance based on current conveyor velocity and object positions, the robot can maintain placement accuracy without waiting passively for the conveyor to clear, thereby reducing idle time.
Solution Approach 2:
The system maintains continuous monitoring and calculation of the clear region while the robot is engaged in other tasks. The clear region determination is an ongoing process that updates continuously, allowing the robot to transition smoothly from picking to placement without idle waiting, thus maintaining continuous useful action.
4Extent of automation
If the robot uses image sensors to detect conveyor state, then the system can operate autonomously, but the complexity of the detection system increases
Solution Approach 1:
The patent extracts only the essential information needed for velocity determination and clear region detection from the full image data. By focusing the image processing on specific tasks (tracking the first object's position and motion, determining clear regions), the system achieves autonomous operation while managing complexity through selective processing rather than comprehensive analysis.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the robot to accurately determine conveyor velocity, reducing downtime and improving pick rates by ensuring safe and efficient placement of objects on the conveyor.
Implementation Method 1
a camera configured to capture an image of the first object and the conveyor
Implementation Method 2
the first image data includes first 2D image data and first time-of-flight data
Data Source
AI summary
Methods and apparatus for determining a velocity of a conveyor associated with a mobile robot are provided. The method includes receiving first image data, the first image data including a first representation of a first object and a conveyor, the first image data captured at a first time, and determining by at least one hardware processor, a velocity of the conveyor based, at least in part, on the first representation of the first object in the first image data and a difference between the first time and a second time different from the first time.