| CPC G05D 1/0251 (2013.01) [B25J 5/007 (2013.01); B25J 9/1697 (2013.01)] | 7 Claims |
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1. An autonomous system configured to operate in an active industrial environment so as to define a runtime, the autonomous system comprising:
a robot defining an end effector configured to grasp a plurality of objects within a workspace, the robot
a depth camera configured to capture a depth image of the workspace;
one or more processors; and
a memory storing instructions that, when executed by the one or more processors, cause the autonomous system to, during the runtime:
detect a bin within the workspace, the bin capable of containing one or more of the plurality of objects; and
based on the depth image and without performing a grasp computation, determine whether the bin is empty or contains at least one object,
wherein the bin defines a bottom end and a top end opposite the bottom end along a transverse direction, the bottom end positioned farther from the depth camera along the transverse direction as compared to the top end, the top end defining an opening such that the depth camera is further configured to capture the depth image of the bin from a perspective along the transverse direction,
the memory further storing instructions that, when executed by the one or more processors, cause the autonomous system to, during the runtime:
determine a first distance from the depth camera to the bottom end along the transverse direction,
perform k-means clustering so as to determine a first cluster and a second cluster, the first cluster associated with the first distance, the second cluster associated with a second distance from the depth camera along the transverse direction that is less than the first distance,
assign first pixels to the first cluster;
assign second pixels to the second cluster;
compare the second pixels to the first pixels so as to determine a ratio of pixels; and
compare the ratio of pixels to a decision boundary so as to determine whether the bin is empty or contains at least one object.
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