Patent Application
20120017507
This disclosure relates generally to robotic technology and, more particularly, to automated organic polarized object organization.
A robotic end effector may be an electromechanical device that may have an extendable frame that can manipulate, rotate, and physically move an object. The robotic end effector may be programmable and may have similar functions to that of a human arm. The links of such a robotic end effector may be connected by joints that may allow rotational motion (such as in an articulated robot) and/or translational (linear) displacement. The links of the manipulator may be considered to form a kinematic chain. One end of the kinematic chain of the robot arm may be called an end effector. The robotic end effector may be analogous to the human hand. The robotic end effector may be designed to perform any desired task such as welding, gripping, spinning etc., depending on an application. For example, the robotic end effector may be used in automotive assembly lines to perform a variety of tasks such as welding, part rotating, and positioning objects during assembly.
The robotic end effector may be designed to perform repetitive tasks on uniform objects. The robotic end effector may damage certain objects, because it may grip too tightly. Conventionally non uniform objects that are delicate are manually positioned so as to prevent damaging the non uniform objects, for example, plant bulbs are manually planted. Manually positioning non uniform objects has several disadvantages including lack of efficiency and dependence on manual labor. Hence there is an unmet need for automated organization of non uniform objects.
A method and an apparatus disclosed herein address the above stated need for automated organization of non uniform objects including, for example, organic polarized objects such as plant bulbs.
In one aspect, the method includes spreading an organic polarized object in a single file on the conveyor belt when the organic polarized object is transported from organic polarized object storage. The method also includes updating an inventory control system through a wireless communication system when a count of the organic polarized object is communicated. The method further includes automatically filling the organic polarized object in a slot of a tray through a robotic end effector until a maximum fill capacity of the tray is achieved, wherein the slot is of a specific shape to receive a first end of the organic polarized object in the slot before a second end of the organic polarized object, such that the first end of the organic polarized object is oriented towards a narrow base of the slot and the second end is oriented towards a broad opening of the slot. The method furthermore includes covering the tray with a nutrient mixture, covering the tray with a basket, rotating the basket so that the organic polarized objects are correctly oriented for growing and removing the basket.
In another aspect, the apparatus includes an organic polarized object sorter machine to sort the organic polarized object in a single file on a conveyor belt. The apparatus also includes the conveyor belt to transport the organic polarized object to the robotic end effector which may place the organic polarized objects into a slot in a tray. The apparatus further includes an image capture device to record an image of one or more of a first organic polarized object and a second organic polarized object. The apparatus furthermore includes a data storage device to store a data set from the image capture device after the recording of the image. The apparatus furthermore includes a processor to calculate “n” degrees of freedom movement for the robotic end effector using a training data set. The apparatus furthermore includes a tray with a plurality of slots to hold the second organic polarized object at a specific slot. The apparatus furthermore includes a signal device to indicate that the tray has reached a maximum capacity and to prompt a change for another empty tray. The method further includes an apparatus for changing the tray orientation so that the organized polarized objects are in the correct orientation for growing.
In one or more embodiments, a hydroponic technology may be used to grow the organic polarized objects. As used herein the term hydroponics refers to a method of growing plants without soil. In these embodiments one or more essential nutrients may be introduced to the organic polarized objects through fluids (e.g., water) in the place of soil. Also, in these embodiments, the tray may contain an array of sharp pins and the robotic end effector may stick the organic polarized objects to the sharp pins. The trays may then be positioned in a liquid (e.g., water) to allow the organic polarized objects to grow when submerged in the liquid.
The methods, systems, and apparatuses disclosed herein may be implemented in any means for achieving various embodiments, and may be executed in a form of a machine-readable medium embodying a set of instructions that, when executed by a machine, cause the machine to perform any of the operations disclosed herein. Other features will be apparent from the accompanying drawings and from the detailed description that follows
Example embodiments are illustrated by way of example and not limited by the figures of the accompanying drawings, in which like references indicate similar elements and in which:
Other features of the present embodiments will be apparent from accompanying Drawings and from the Detailed Description that follows.
An apparatus and a method of automated organic polarized object organization are disclosed. In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the various embodiments. It may be evident, however, to one skilled in the art that the various embodiments may be practiced without these specific details.
The apparatus 100 includes an organic polarized object sorter machine to sort the organic polarized object 102 in a single file on a conveyor belt 160. The conveyor belt 160 may be used to transport one or more organic polarized objects (e.g. organic polarized object 102) from the organic polarized object sorter machine towards a robotic end effector 134. The robotic end effector 134 may be configured to fetch the organic polarized objects from the conveyor belt 160 and place the organic polarized objects into one or more slots in a tray 148. In one or more embodiments, the movement of the robotic end effector 134 may be controlled by pneumatic cylinders (not shown). The pneumatic cylinders may be attached to one or more elongated extensions (e.g., a first elongated extension 136A and a second elongated extension 136B) to hold the organic polarized objects (e.g. organic polarized object 102) to transfer the organic polarized objects into the slots and/or pins of the tray 148 at desired location and/or in a desired orientation. In one or more embodiments, the first elongated extension 136A and the second elongated extension 136B may include a sensor device (not shown) to sense the presence of the organic polarized objects. Example of the sensor device may include, but is not limited, one of a capacitive sensor, a optical sensor, a resistive sensor, an inductive sensor, and the like. In one or more embodiments, the sensor device may also relay/communicate a count of the organic polarized objects that are processed through the apparatus 100, to a data processing system (e.g. computer 138). The communication may be through a wired and/or a wireless communication. In one or more embodiments, an application may control the robotic end effector 134 and movement of the robotic end effector 134.
In one or more embodiments, the apparatus 100 also includes an image capture device 120, a data storage device, a processor, the tray 148, and a signal device. The image capture device 120 may be configured to capture an image of an organic polarized object. For example, a first image of a first organic polarized object and/or a second image of a second organic polarized object may be captured through the image capture device 120. The image capture device 120 may record the image after capturing. Example of the image capture device 120 includes, but is not limited to, a digital camera, a video camera, a probe, an optical device, an infra-red device, a biosensor, a color sensor, a heat sensor, a water sensor, and a laser device. In one or more embodiments, the captured image may be transferred to a data storage device. The data storage device may store a data set from the image capture device 120 after the recording of the image. The processor may calculate “n” degrees of freedom movement for the robotic end effector 134 using a training data set. The “n” degrees of freedom of movement may include, but is not limited to a moving up and down in heaving, a moving left and right in swaying, a moving forward and backward in surging, a tilting forward and backward in pitching, a turning left and right in yawing, a full axis motion in 360 degree rotation, a tilting side to side in rolling, and a movement along one or more of x, y, and z coordinate axes. Further, the processor may be configured to algorithmically calculate a dimension data from the captured images (e.g., the first image and the second image). Examples of the dimension data may include, but is not limited to, one or more of a width, a depth, a length, a distance, intensity, a curvature, a surface area, a volume, a narrow field, a broad field, edges, center, and an angle.
The tray 148 may include one or more slots and/or pins to hold the organic polarized objects (e.g. the first organic polarized object 102) at specific slots/pins. In one or more embodiments, the signal device may be configured to indicate that the tray 148 has reached a maximum capacity and may prompt a change for another empty tray. In one or more embodiments the tray 148 may be a part of a large automated assembly system. In one or more embodiments, the tray 148 may be made of one or more of a biodegradable material, a plastic material, a reusable material, and/or an array of sharp pins for holding the organic polarized objects.
Also illustrated in
In one or more embodiments, personnel may be updated about a status of an inventory item. Examples of the inventory item may include, but is not limited to the organic polarized object 102, the nutrient mixture 162, the tray 148 and the basket 150. Updating the personnel may be conducted via one or more communication techniques including, for example, a cell phone, a PDA and a computer.
The captured image may be processed to obtain an image data. The image data may include, but is not limited to, a width, a depth, a length, a distance, intensity, a curvature, a surface area, a volume, a narrow field, a broad field, edges, center, an angle, and the like. The image data may be used to create a data set for the organic polarized object 102. The data set may be compared with the training data set to identify the organic polarized objects (e.g. the organic polarized object 102) and/or a precise location, orientation, shape, and/or size data of the organic polarized objects. If the comparison yields a positive result indicating that the location, orientation and/or size of the organic polarized objects matches one or more specifications including a specific shape, a specific size, specific location, and/or specific orientation, then the organic polarized object 102 may be selected and fetched from the conveyor belt 160 using the robot end effector 134. In one or more embodiments, if the comparison yields a negative result, then the organic polarized object 102 may be recycled for future processing. In one or more embodiments, on selection, the organic polarized object 102 may be secured between a first elongated extension 136A and a second elongated extension 136B of the robotic end effector 134 to grasp the organic polarized object 102. After securing, the organic polarized object 102 may be positioned in one of the slots and/or pins of the tray 148.
In one or more embodiments, a data regarding the tray 148 being filled, a number of available slots in the tray 148 being filled, and/or a number of trays filled may be sensed through the image capture device 120 and the data may be communicated to the data processing system through the wireless/wired communication system. When the tray 148 may be completely filed, a filled tray 346 may be obtained and the filled tray 346 may be covered with a nutrient mixture 162 at the nutrient filling station 151. In one or more embodiments, the filled tray 346 may be partially covered with the nutrient mixture 162 at the nutrient filing station 151. In one or more embodiments, the nutrient mixture 162 may be transported through a duct from the nutrient mixer 155 operatively coupled to the nutrient filling station 151, to a nutrient bin 343. The filled tray 346 (filled with the organic polarized objects) to be filled with the nutrient mixture 162 may be positioned below the nutrient bin 343 through the conveyor belt 160. The nutrient mixture 162 may be dispensed into the filled tray 346 from the nutrient bin 343 to partially or fully fill the tray 148 with the nutrient mixture 162 as illustrated in
Further, at step B, a second image of a second organic polarized object 505 may be captured using the image capture device 120. A second image data of the second organic polarized object 505 may be computed using the captured second image. Further, a second dimension data may be computed based on the second image data through a processor coupled to the data processing system (e.g. computer 138). At step C, the training data set may be compared to the second dimension data through the processor to identify the shape, size, location and/or orientation of the second organic polarized object. On comparison, if the second organic polarized object 505 possesses the desirable shape, size, location and/or orientation, the processor may transmit a command to the robotic end effector 134 to select the second organic polarized object 505 to be positioned in the tray 148. In one or more embodiments, at step D, the robotic end effector 134 secures the second organic polarized object 505 between a first elongated extension 136A and a second elongated extension 136B and positions it in the tray 148. Similarly, the third organic polarized object 507 may be selected owing to suitability of shape, size and may be positioned in the tray 148 by the robotic end effector 134. Further, if the shape, size of one or more organic polarized objects (e.g. third organic polarized object 507) is not desirable, the organic polarized objects may be rejected or recycled for further processing.
Furthermore, if there is no substantial match in information between the second organic polarized object 505 and the information in the data table of vectors 516 of the first organic polarized object 503, then in operation 536, it may be determined whether all rotations and scaling of data table of vectors 516 is performed (e.g., by comparing vote count information obtained at each rotation and scaling of organic polarized object with the data table of vectors 516 of the first organic polarized object 503). Furthermore, if it is determined that all rotations and scales of the data table of vectors 516 are checked and there is no substantial match between the second organic polarized object 505 and the first organic polarized object 503, then in operation 538, the second organic polarized object 505 may be rejected. In one or more embodiments, in operation 540, rotation and scaling operation may be continued. Further, operation 532 may be initiated to determine a match and the process is continued until the organic polarized object is matched with the first organic polarized object 503 or the organic polarized object is rejected for not matching.
In one or more embodiments, image capture module 606 also may control the functioning of the image capture devices (e.g. image capture device 120). The count sensor module 608 may coordinate with a sensor coupled to the robotic end effector and maintain a count of the number of organic polarized objects arriving from organic polarized object storage and update a database every time a new organic polarized object arrives. In one or more embodiments, the robotic end effector sensor module 610 may sense the various positions and movement of the robotic end effector 134. The motion module 612 regulates the movement of the robotic end effector 134 to automate organizing of the organic polarized objects in one or more slots of the tray 148. The motion module 612 may also regulate the movement of one or more parts of the robotic end effector 134, including, for example, elbow joint, a first elongated extension 136A, and a second elongated extension 136B. The motion module 612 coordinates with the robotic end effector sensor module 610 to regulate the movement of the robotic end effector 134.
In one or more embodiments, a quality assurance module 614 maintains uniformity of the organic polarized objects in the slots of the tray 148 and also controls the functioning of various modules to maintain uniformity and quality. The uniformity may be in terms of one or more of a number of organic polarized objects per tray, the quality of the organic polarized objects in the tray, a permissible amount of size and shape variation from a predetermined size and shape of the organic polarized objects, and an order of organizing the organic polarized objects in the tray. The nutrient filling station module 616 may control one or more functionalities of a nutrient filling station 151 including, but not limited to, mixing nutrients in a required proportion, transferring the nutrient mixture 162 to a nutrient bin 343, controlling the pouring of the nutrient mixture 162 into the basket 150 containing the filled tray 346, adjusting the position of the basket below the nutrient bin 343, and the like. The change module 618 may monitor that the tray 148 has reached a maximum capacity and to prompt a change for another empty tray.
In one or more embodiments, the alert module 620 alerts the change module to prompt when the tray 148 reaches a maximum capacity. The transport module 622 may control transporting the trays, the baskets, and/or the organic polarized objects on the conveyor belt 160. In one or more embodiments, the calibration module 628 may align coordinate systems of an image capture device (e.g. image capture device 120) and/or the robotic end effector. The basket flipping module 630 may communicate with the transport module 622 to coordinate basket flipping. In one or more embodiments, the basket flipping module 630 may also be configured to control and/or coordinate removal of the tray 148 after flipping the basket 150 over. The sensor control module 624 may control one or more sensors (e.g. sensor 336) coupled to the robotic end effector 134 and the nutrient filling station 151 and coordinates with various modules. The training module 626 may create and maintain a training data set by coordinating with the image capture module 606.
In one or more embodiments, in operation 702, an organic polarized object may be spread in a single file on the conveyor belt when the organic polarized object may be transported from an organic polarized object storage. In one or more embodiments, in operation 704, an inventory control system may be updated through a wireless communication system when a count of the organic polarized object may be communicated. Examples of the wireless communication system includes, but is not limited to a Bluetooth, a Zigbee, a WiFi, a WiMax, a power over ethernet (POE), and a Wibree.
In one or more embodiments, in operation 706, the organic polarized object may be automatically filled in a slot of a tray or affixed to pins in the tray through a robotic end effector until a maximum fill capacity of the tray may be achieved. The tray may be made of one or more of a biodegradable material, a plastic material, and a reusable material. The slot may be of a specific shape to receive a first end of the organic polarized object in the slot before a second end of the organic polarized object, such that the first end of the organic polarized object may be oriented towards a narrow base of the slot and the second end may be oriented towards a broad opening of the slot.
In one or more embodiments, in operation 708, the tray may be covered with a nutrient mixture and later with a basket. In one or more embodiments, personnel may be updated about the status of an inventory item. The inventory item includes, but is not limited to the organic polarized object, the nutrient mixture, the tray and the basket. Updating personnel may be conducted via a wired/wireless communication, including, for example, through a cell phone, a PDA and/or a computer.
In one or more embodiments, in operation 710, the basket comprising the tray filled with the organic polarized object and the nutrient mixture may be inverted/flipped so that the organic polarized objects are in the correct orientation for growing. In one or more embodiments, in operation 712, the tray may be removed. In one or more embodiments, in operation 713, the organic polarized objects may be covered with the nutrient mixture while in the basket.
In one or more embodiments, the basket containing the organic polarized objects with the nutrient mixture may be stacked in a vertical form and/or a horizontal form on a platform in a cold storage facility for a length of time. In one or more embodiments, the stacked basket may be transported to a growing area. In one or more embodiments, in operation 714, the basket and/or the basket stack may be stored in the cold storage facility until a planting season time arrives.
In one or more embodiments, the organic polarized objects not selected by the robotic end effector for placement in the slot of the tray may be recycled. In one or more embodiments, a hydroponic technology may be used to grow the organic polarized objects. As used herein the term hydroponics refers to a method of growing plants without soil. In these embodiments one or more essential nutrients may be introduced to the organic polarized objects through fluids (e.g., water) in the place of soil. Also, in these embodiments, the tray may contain an array of sharp pins and the robotic end effector may stick the organic polarized objects to the sharp pins. The trays may then be positioned in a liquid (e.g., water) to allow the organic polarized objects to grow when submerged in the liquid.
In one or more embodiments, in operation 806, the first dimension data of the first organic polarized object may be algorithmically calculated using a processor. The first dimension data includes, but is not limited to, one or more of a width, a depth, a length, a distance, an intensity, a curvature, a surface area, a volume, a narrow field, a broad field, center, edges and an angle. In one or more embodiments, in operation 808, first data table of the first dimension data of the first organic polarized object may be created. In one or more embodiments, in operation 810, a training data set may be formed by transforming (e.g., skewing, rotating) the first data table of the first organic polarized object.
In one or more embodiments, in operation 812, a second image of a second organic polarized object may be captured using the image capture device. In one or more embodiments, in operation 814, a second image data of the second organic polarized object may be collected using the captured second image. In one or more embodiments, in operation 816, a second dimension data of the second organic polarized object may be algorithmically calculated using the second image data through a processor. The second dimension data includes, but is not limited to, one or more of a width, a depth, a length, a distance, an intensity, a curvature, a surface area, a volume, a narrow field, a broad field, edges, center and an angle. In one or more embodiments, in operation 818, a high vote count data may be calculated based on the second dimension data and the training data.
In one or more embodiments, in operation 820, a training data set may be compared to the second dimension data to identify the second organic polarized object and/or a precise location, orientation, size, and/or shape data of the second organic polarized object using a processor. In some embodiments, one or more feature extraction techniques including, but not limited to a generalized Hough transform may be used for comparison and/or identification.
In one or more embodiments, in operation 822, a dimension data may be determined as a distinct data of the second organic polarized object even if the second organic polarized object may be in one or more of an adjacent, a bordering, overlapping, underneath the first organic polarized object and in an up-side down state. In one or more embodiments, in operation 824, a robotic end effector movement having “n” degrees of freedom of movement may be selected. The “n” degrees of freedom of movement includes, but is not limited to, a moving up and down in heaving, a moving left and right in swaying, a moving forward and backward in surging, a tilting forward and backward in pitching, a turning left and right in yawing, a full axis motion in 360 degree rotation, a tilting side to side in rolling, and a movement along one or more of x, y, and z coordinate axes. In one or more embodiments, in operation 826, the second organic polarized object may be picked up using the robot end effector using the precise location, size, and/or orientation data. In one or more embodiments, in operation 828, a second organic polarized object may be transported from a first place and a first orientation to a second place and a second orientation in a specific tray with a slot.
Although the present embodiments have been described with reference to specific example embodiments, it will be evident that various modifications and changes may be made to these embodiments without departing from the broader spirit and scope of the various embodiments. For example, the organic polarized objects may be grown in liquid on a pin tray, where the robotic end effector may force the organic polarized objects onto the tray pins in the correct orientation for growing.
In addition, it will be appreciated that the various operations, processes, and methods disclosed herein may be embodied in a machine-readable medium and/or a machine accessible medium compatible with a data processing system (e.g., a computer system), and may be performed in any order (e.g., including using means for achieving the various operations). Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.
The foregoing examples have been provided merely for the purpose of explanation and are in no way to be construed as limiting of the present invention disclosed herein. While the invention has been described with reference to various embodiments, it is understood that the words, which have been used herein, are words of description and illustration, rather than words not of limitation. Further, although the invention has been described herein with reference to particular means, materials and embodiments, the invention is not intended to be limited to the particulars disclosed herein; rather, the invention extends to all functionally equivalent structures, methods and uses, such as are within the scope of the appended claims. Those skilled in the art, having the benefit of the teachings of this specification, may affect numerous modifications thereto and changes may be made without departing from the scope and spirit of the invention in its aspects.
