Abstract: A method and apparatus are disclosed for a clutter tidying robot utilizing floor segmentation for its mapping and navigation system, whereby a perception module and navigation module transform lidar and image data from lidar sensors and cameras of a robot sensing system using segmentation and pseudo-laserscan or point cloud transformations to generate global and local maps. The robot pose and maps are transmitted to a robot brain that directs an action module to produce robot action commands controlling the operation of a clutter tidying robot using the pose and map data. In this manner multi-stage planning and sophisticated obstacle avoidance techniques may be incorporated into autonomous robot operations.

Abstract: The present invention relates to a tamping system (100) for tamping of filler materials of capsule filling machine to form slug, and selectively delivering the slug from a dosing disc (108) based on the presence/absence of empty capsule bodies in an empty capsule segment in a turret of capsule filling machine. The tamping system (100) based on the presence/absence of empty capsule bodies in the empty capsule segment, enables actuation of pneumatic cylinders (113) to restrict movement of tamping pistons (110) into the respective holes of the dosing disc (108) that were configured to be align with the empty capsule segments of the turret where no capsule bodies were identified or present, irrespective of the downward movement of the holder blocks (111) towards the dosing disc (108), thereby restricting the delivery of the slug into empty capsule segment of the turret, and preventing wastage of the filler material or slug.

Abstract: The present invention relates to a tamping system (100) for tamping of filler materials of capsule filling machine to form slug, and selectively delivering the slug from a dosing disc (108) based on the presence/absence of empty capsule bodies in an empty capsule segment in a turret of capsule filling machine. The tamping system (100) based on the presence/absence of empty capsule bodies in the empty capsule segment, enables actuation of pneumatic cylinders (113) to restrict movement of tamping pistons (110) into the respective holes of the dosing disc (108) that were configured to be align with the empty capsule segments of the turret where no capsule bodies were identified or present, irrespective of the downward movement of the holder blocks (111) towards the dosing disc (108), thereby restricting the delivery of the slug into empty capsule segment of the turret, and preventing wastage of the filler material or slug.