Computer-vision-based object tracking and guidance module

Patent metadata

Field	Value
Publication number	US-11089232-B2
Application number	US-202016740679-A
Country	US
Kind code	B2
Filing date	Jan 13, 2020
Priority date	Jan 11, 2019
Publication date	Aug 10, 2021
Grant date	Aug 10, 2021

Abstract

An apparatus comprises a mount body by which the apparatus is secured to a structure. A camera assembly includes an image sensor adapted to capture images within its field of view. A lighting assembly houses one or more light sources including a directional light source. A control-board assembly fixed to the mount body, houses control boards including one or more processors configured to acquire information about an object, to associate a location within the field of view of the image sensor with the object, to point light emitted by the directional light source at the location associated with the obj ect by rotating the lighting assembly and turning the laser assembly, and, based on an image acquired from the camera assembly, to detect change within the field of view of the image sensor corresponding to placement or removal of the object.

First claim

What is claimed is:

1. An apparatus comprising:
a mount body by which to secure the apparatus to a structure;
a camera assembly fixed to the mount body, the camera assembly including an image sensor that captures images within its field of view, wherein the camera assembly further comprises a depth sensor fixed to a mounting surface and a plurality of support mounts of different heights attached to a frame of the camera assembly, and wherein the image sensor is mounted to a board held by the plurality of support mounts at a non-zero offset angle relative to the mounting surface upon which the depth sensor is fixed;
a lighting assembly rotatably coupled to the mount body, the lighting assembly housing one or more light sources including a directional light source secured to a laser assembly;
a control-board assembly fixed to the mount body, the control-board assembly housing control boards that are in electrical communication with the camera assembly to acquire the images captured by the image sensor and with the lighting assembly to control operation of the one or more light sources, the control boards including one or more processors configured to acquire information about an object, to associate a location within the field of view of the image sensor with the object, to point light emitted by the directional light source at the location associated with the object by rotating the lighting assembly and turning the laser assembly, and, based on an image acquired from the camera assembly, to detect change within the field of view of the image sensor corresponding to placement or removal of the object.

2. The apparatus of claim 1 , wherein the support mounts have rivet holes, and the camera assembly further comprises push rivets that pass through the board into the rivet holes of the support mounts to secure the image sensor within the camera assembly.

3. The apparatus of claim 1 , wherein the mount body has a channel extending therethrough, the channel having opposing upper and lower surfaces and a side wall therebetween, the sidewall having two angled surfaces that determine a full range of angles at which the mount body can be mounted to a rail.

4. The apparatus of claim 3 , wherein one of the surfaces of the channel has a retaining boss extending therefrom, the retaining boss being located on the one surface to align with a groove of the rail, the retaining boss having a size that fits closely within the groove of the rail.

5. The apparatus of claim 3 , further comprising:
a bracket with two arms and a mounting surface; and
a channel bar attached between ends of the two arms, the channel bar having dimensions adapted to fit closely within and pass through the channel of the mount body.

6. The apparatus of claim 3 , wherein the mount body includes a pair of flanges, one flange of the pair on each side of the mount body, each flange having an opening therein, and further comprising a bracket coupled to the mount body, the bracket having two opposing walls and a sidewall disposed therebetween, a first wall of the two walls entering the channel of the mount body and having openings that align with the openings of the flanges for receiving fasteners therethrough that secure the first wall to the flanges, a second wall of the two walls having openings therein for receiving fasteners therethrough that secure the second wall to a surface.

7. An apparatus comprising:
a mount body;
a lighting assembly attached to the mount body, the lighting assembly housing a directional light source;
a camera assembly attached to the mount body, the camera assembly housing an RGB (red green blue) camera and a depth camera that capture image information within their fields of view, the camera assembly having a mounting surface upon which the depth camera is fixed, a plurality of support mounts of different heights attached to a frame of the camera assembly, the RGB camera being mounted to a board supported by the plurality of support mounts of different heights and held at a non-zero offset angle relative to the mounting surface upon which the depth camera is fixed; and
a control-board assembly attached to the mount body, the control-board assembly being in communication with the camera assembly to receive image information captured by the cameras and with the lighting assembly to control operation of the directional light source, the control-board assembly housing control boards including a processor configured to receive and process images captured by the camera assembly and to operate the directional light source in response to the processed images.

8. The apparatus of claim 7 , wherein the support mounts have rivet holes, and the camera assembly further comprises push rivets that pass through the board into the rivet holes of the support mounts to secure the RGB camera within the camera assembly.

9. The apparatus of claim 7 , wherein the mount body has a channel extending therethrough, the channel having opposing upper and lower surfaces and a side wall therebetween, the sidewall having two angled surfaces that determine a full range of angles at which the mount body can be mounted to a rail.

10. The apparatus of claim 9 , wherein one of the surfaces of the channel has a retaining boss extending therefrom, the retaining boss being located and sized to align with and fit within a groove of the rail.

11. The apparatus of claim 9 , further comprising:
a bracket with two arms that meet at a mounting surface; and
a channel bar attached between ends of the two arms, the channel bar having dimensions adapted to fit closely within and pass through the channel of the mount body.

12. The apparatus of claim 9 , wherein the mount body includes a pair of flanges, one flange of the pair on each opposite side of the mount body, each flange having an opening therein, and further comprising: a bracket coupled to the mount body, the bracket having two opposing walls and a sidewall disposed therebetween, a first wall of the two walls entering the channel of the mount body and having openings that align with the openings of the flanges for receiving fasteners therethrough that secure the first wall to the flanges, a second wall of the two walls having openings therein for receiving fasteners therethrough that secure the bracket to a surface.

13. An apparatus comprising:
a mount body by which to secure the apparatus to a rail, the mount body having a channel sized to receive the rail therethrough, the channel having a sidewall disposed between opposing walls, the sidewall having multiple angled surfaces that determine a full range of angles at which the rail can be secured to the mount body;
a camera assembly housing a camera, the camera assembly being attached to the mount body such that the camera has a field of view that faces downwards when the apparatus is secured to the rail;
a light-guidance assembly rotatably attached to the mount body, the light-guidance assembly housing one or more light sources; and
a control-board assembly attached to the mount body, the control-board assembly being in communication with the camera assembly to receive image information captured by the cameras and with the lighting assembly to control operation of the one or more light sources, the control-board assembly housing control boards configured to receive and process images captured by the camera assembly and to rotate the light-guidance assembly and operate the one or more light sources in response to the processed images.

14. The apparatus of claim 13 , wherein one of the surfaces of the channel has a retaining boss extending therefrom, the retaining boss being located and sized to al

Assignees

• Position Imaging Inc

Inventors

• Martel Brian
• Xiong Yifeng
• Schena Drew Anthony
• Chakravarty Narasimhachary Nallana
• Piotrowski Rafal

Classifications

• H04N7/181 Primary

  for receiving images from a plurality of remote sources · CPC title

• H04N23/74 Primary

  by influencing the scene brightness using illuminating means · CPC title

• H04N23/16

  Optical arrangements associated therewith, e.g. for beam-splitting or for colour correction · CPC title

• H04N23/61

  based on recognised objects · CPC title

• H04N23/50

  Constructional details · CPC title