Flexible-cable endpoint tracking and robot-target updates

Need

A flexible cable bends during movement and its endpoints do not stay fixed. A target from an earlier image may be stale when the robot approaches; an occluded endpoint has no current pose.

Solution approach

Flexible-cable endpoints are relocalised during movement; the robot target uses current image evidence and holds when an endpoint is occluded.

Process steps

1. 01

   Frame

   Items arrive and the initial frame and item context are established. Vision results are illustrative.

2. 02

   Track

   Each visible item receives a separate track contour; the first contour is the annotated track component.

3. 03

   Associate

   Flexible-cable endpoints are relocalised during movement; the robot target uses current image evidence and holds when an endpoint is occluded.

4. 04

   Validate target

   The track is checked against its event record and uncertain association enters HOLD. No physical command has been applied in this phase.

5. 05

   Allowed command and record

   Only a validated target enters a simulated robot pick; the other cycle has no command and keeps the candidate on hold.