US 11,055,659 B2
System and method for automatic product enrollment
Hui Cheng, Mountain View, CA (US)
Assigned to Beijing Jingdong Shangke Information Technology Co., Ltd., Beijing (CN); and JD.com American Technologies Corporation, Mountain View, CA (US)
Filed by Beijing Jingdong Shangke Information Technology Co., Ltd., Beijing (CN); and JD.com American Technologies Corporation, Mountain View, CA (US)
Filed on Sep. 21, 2018, as Appl. No. 16/137,765.
Prior Publication US 2020/0097892 A1, Mar. 26, 2020
Int. Cl. G06Q 10/08 (2012.01); G06K 7/14 (2006.01); G06K 7/10 (2006.01)
CPC G06Q 10/087 (2013.01) [G06K 7/10722 (2013.01); G06K 7/1413 (2013.01); G06K 7/1417 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A system for automatic product enrollment, comprising:
a belt conveyor system having a first end and a second end, configured to convey a product from the first end to the second end;
a transparent panel, disposed in a path of the conveyor belt;
four scales A, B, C and D configured to record weights of the product at different points, wherein the scales A and D are disposed at the first end, the scales B and C are disposed at the second end, and a line connecting the scales A and B is parallel to a line connecting the scales D and C;
a plurality of first cameras, respectively disposed above the transparent panel, under the transparent panel, and above the scales, and configured to capture visual images of the product;
a plurality of second cameras, respectively disposed above and under the transparent panel, and configured to capturing depth images of the product;
a plurality of lights, disposed above and under the transparent panel, and configured to light up the product; and
a computing device, configured to:
detect identifications of the product from the captured visual images;
determine three-dimensional (3D) model with appearance of the product using the captured visual images and depth images;
calculate weight distribution of the product based on the 3D model with appearance of the product, the captured visual images of the product when the product is located on the scales for recording weights, and the recorded weights of the product;
determine manipulation parameters of the product based on the dimensions, the orientations, and the weight distribution of the product;
retrieve warehouse information of the product from a warehouse management system, based on the identification; and
enroll the warehouse information, the 3D model with appearance, the weight distribution, and the manipulation parameters of the product in a product database,
wherein the manipulation parameters comprise grasping surface of the product and grasping point on the grasping surface,
wherein the weight distribution of the product is calculated as a relative location of a center of mass to a geometrical center computed from a geometrical shape of the product, and the center of mass is calculated by:
obtaining weights Fa, Fb, Fc and Fd measured by the scales A, B, C and D, respectively;
summing the weights Fa, Fb, Fc and Fd as Fabcd, summing the weights Fb and Fc as Fbc, and summing the weights Fc and Fd as Fcd;
calculating a distance L between the first end and the second end, and a distance W between the line connecting the scales A and B and the line connecting the scales D and C;
calculating a projected center of mass M of the product projected on the belt conveyor, wherein the projected center of mass M is in a distance of L×Fbc/Fadcd to the first end and in a distance of W×Fcd/Fadcd to the line connecting the scales A and B; and
calculating the center of mass by extending the projected center of mass M upward half of a height H of the product.