Robotic device including machine vision

US9844881B2 · kind B2 · utility

Assignee

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US

Inventors

• David W. Payton · Calabasas, US
• Kyungnam Kim · Oak Park, US
• Zhichao Chen · Calabasas, US
• Ryan M. Uhlenbrock · Calabasas, US
• Li Yang Ku · Los Angeles, US

Key dates

• Filing date: Jun 22, 2015
• Grant date: Dec 19, 2017
• Expiry date: Oct 27, 2035

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1697
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

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.