US 12,246,459 B2
System and/or method of cooperative dynamic insertion scheduling of independent agents
Clement Creusot, San Francisco, CA (US); Rajat Bhageria, San Francisco, CA (US); Norberto Goussies, San Francisco, CA (US); Luis Rayas, San Francisco, CA (US); and Xiaoyi Chen, San Francisco, CA (US)
Assigned to Chef Robotics, Inc., San Francisco, CA (US)
Filed by Chef Robotics, Inc., San Francisco, CA (US)
Filed on Dec. 6, 2022, as Appl. No. 18/075,961.
Claims priority of provisional application 63/296,245, filed on Jan. 4, 2022.
Claims priority of provisional application 63/291,067, filed on Dec. 17, 2021.
Prior Publication US 2023/0191615 A1, Jun. 22, 2023
Int. Cl. B25J 11/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); G05B 19/418 (2006.01); G06T 7/20 (2017.01); G06T 7/246 (2017.01); G06T 7/70 (2017.01); G06V 10/764 (2022.01); G06V 20/68 (2022.01)
CPC B25J 9/1697 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1687 (2013.01); B25J 11/0045 (2013.01); B25J 13/08 (2013.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 10/764 (2022.01); G06V 20/68 (2022.01); G06T 2207/30128 (2013.01); G06T 2207/30241 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for insertion of a foodstuff ingredient along a conveyor line, comprising:
a plurality of foodstuff assembly systems arranged in series along the conveyor line, each comprising:
a robot configured to manipulate the foodstuff ingredient;
a set of sensors configured to sample images of the conveyor line;
a computing system, comprising:
a perception module configured to, with images sampled by the set of sensors:
identify containers along the conveyor line;
estimate a container pose for each identified container; and
with a classification model, determine a classification probability associated with presence of the foodstuff ingredient within each identified container;
a scheduling module system configured to select containers for ingredient insertion based on the classification probabilities of the identified containers; and
a controller, communicatively coupled to the robot, which is configured to control insertion of the foodstuff ingredient within each selected container based on a respective container pose estimate of the selected container,
wherein the scheduling modules of each foodstuff assembly system of the plurality are communicatively decoupled and configured to operate independently, wherein the scheduling module of each foodstuff assembly system operates according to a predetermined insertion strategy which is independent of a relative arrangement of the foodstuff assembly system along the assembly line, wherein the plurality of foodstuff assembly systems comprises an upstream foodstuff assembly system relative to a direction of conveyor line, wherein the scheduling module of the upstream foodstuff assembly system selects alternating containers which satisfy a predetermined classification probability for ingredient insertion.