Robot Layer Divider Detection Using 2D-3D Stack Contours
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Solution Overview
Problem
Robotic systems face challenges in detecting and identifying layer dividers between layers of objects on loading or transportation platforms, particularly due to irregular arrangements and shapes, which affects the precision and accuracy of object detection and retrieval tasks.
Innovation Solution
A computing system equipped with a control system and processing circuit that uses 3D and 2D image information from cameras to identify edges, contours, and extension lines, determining the presence of layer dividers and their contours to guide the movement of a robot arm for precise detection and retrieval.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional object detection methods are used, then the system is simple, but the detection precision and accuracy of layer dividers deteriorates due to irregular arrangements and shapes
Solution Approach 1:
The patent segments the object detection process into multiple specialized stages: initial object detection, layer divider detection, contour identification, and trajectory generation. Each stage processes specific features and outputs structured data for the next stage, improving detection precision while managing complexity through modular processing
Solution Approach 2:
The patent transitions from 2D image data to 3D spatial understanding by generating trajectories in three-dimensional space. The system uses depth information and spatial relationships to calculate robot arm movement paths, enabling accurate detection and retrieval of layer dividers with irregular arrangements and shapes
2Measurement precision
If advanced image processing is used to detect layer dividers, then detection accuracy improves, but processing time increases
Solution Approach 1:
The system performs preliminary object detection and contour identification before detailed layer divider analysis. By pre-processing the image data to identify potential regions of interest and establish initial object boundaries, the system reduces the computational burden of subsequent detailed analysis, thereby improving detection accuracy while minimizing processing time
Solution Approach 2:
The patent extracts only the essential features needed for layer divider detection from the full image data. By focusing on specific contours, edges, and spatial relationships relevant to layer dividers rather than processing all image information, the system achieves high detection accuracy with reduced processing time
3Productivity
If manual detection methods are used, then the system is simple, but productivity and retrieval efficiency deteriorates
Solution Approach 1:
The system performs autonomous detection and trajectory generation without human intervention. The automated pipeline processes images, identifies layer dividers, calculates retrieval trajectories, and controls the robot arm independently, significantly improving productivity while the modular architecture manages system complexity
Solution Approach 2:
The patent replaces manual mechanical detection and retrieval operations with an automated vision-based system. The computer vision pipeline and automated trajectory calculation substitute for human visual inspection and manual positioning, enhancing retrieval efficiency while the integrated control system manages complexity
Data Source
AI summary
A computing system including a processor configured to identify a contour of a stack of objects based on 3D image information obtained, identify a top surface of the stack of objects based on the contour of the stack of objects, detect extension lines, each corresponding to an edge of an object or a gap between objects, extending from a perimeter towards a center of the top surface based on 2D image information of the top surface of the stack of objects, detect a presence of the layer divider based on a length of each of the extension lines being less than a line-length threshold, identify a contour of the layer divider according to points on the top surface corresponding to termination points of the extension lines, and determine a trajectory to control a movement of a robot based on the contour.