Patent ID: 9562799
Date: 2017-02-07
CPC Classifications: G01F

Claim:
1. A system for automatically mapping obstacles within a bin that stores content, the system comprising: a location estimator that is arranged to calculate, in response to detection signals, an estimated shape of an upper surface of the content; wherein the detection signals are generated by a receiver in response to radiation signals reflected or scattered from multiple points within the bin; and an obstacle detector that is arranged to detect an obstacle by: (i) detecting when a local slope of the estimated shape of the upper surface of the content exceeds a maximal expected slope of the upper surface of the content; wherein the maximal expected slope of the upper surface of the content is an expected shape attribute of the upper surface of the content; wherein the local slope of the estimated shape of the upper surface of the content is defined between a group of points of the multiple points within the bin; and (ii) selecting, out of the group of points, one or more obstacle points that belong to the obstacle.