System and method for shape attribute based detection of obstacles within a bin

摘要

A method and a system for automatically mapping obstacles within a bin that stores content, the system may include: a location estimator that is arranged to calculate, in response to detection signals, an estimated shape of an upper surface of the content; wherein the detection signals are generated by a receiver in response to radiation signals reflected or scattered from multiple points within the bin; and an obstacle detector that is arranged to detect at least one obstacle point that belongs to an obstacle in response to (a) the estimated shape of the upper surface of the content, and (b) an expected shape attribute of the upper surface of the content.

主权项

1. A system for automatically mapping obstacles within a bin that stores content, the system comprising:
a location estimator that is arranged to calculate, in response to detection signals, an estimated shape of an upper surface of the content; wherein the detection signals are generated by a receiver in response to radiation signals reflected or scattered from multiple points within the bin; and an obstacle detector that is arranged to detect an obstacle by: (i) detecting when a local slope of the estimated shape of the upper surface of the content exceeds a maximal expected slope of the upper surface of the content; wherein the maximal expected slope of the upper surface of the content is an expected shape attribute of the upper surface of the content; wherein the local slope of the estimated shape of the upper surface of the content is defined between a group of points of the multiple points within the bin; and (ii) selecting, out of the group of points, one or more obstacle points that belong to the obstacle.