ROBOTIC DEVICE INCLUDING MACHINE VISION

摘要

A machine vision system for a controllable robotic device proximal to a workspace includes an image acquisition sensor arranged to periodically capture vision signal inputs each including an image of a field of view including the workspace. A controller operatively couples to the robotic device and includes a non-transitory memory component including an executable vision perception routine. The vision perception routine includes a focus loop control routine operative to dynamically track a focus object in the workspace and a background loop control routine operative to monitor a background of the workspace. The focus loop control routine executes simultaneously asynchronously in parallel with the background loop control routine to determine a combined resultant including the focus object and the background based upon the periodically captured vision signal inputs. The controller is operative to control the robotic device to manipulate the focus object based upon the focus loop control routine.

主权项

1. A machine vision system for a controllable robotic device proximal to a workspace, comprising:
an image acquisition sensor in communication with a controller; the image acquisition sensor arranged to periodically capture vision signal inputs each including an image of a field of view including the workspace; the controller operatively coupled to the robotic device and including a non-transitory memory component including an executable vision perception routine; the vision perception routine including a focus loop control routine operative to dynamically track a focus object in the workspace and a background loop control routine operative to monitor a background of the workspace, wherein the focus loop control routine executes simultaneously asynchronously in parallel with the background loop control routine to determine a combined resultant including the focus object and the background based upon the periodically captured vision signal inputs; and the controller operative to control the robotic device to manipulate the focus object based upon the focus loop control routine.