Automated package registration systems, devices, and methods
First Claim
Patent Images
1. A method for registering a package during a robotic package handling operation, the method comprising:
- receiving first image data representative of a first surface image of a package surface;
determining that the package is unregistered based on comparing the first surface image to a registration record;
identifying a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface;
determining a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges;
generating one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package;
receiving second image data representative of the package after the lift;
determining third image data as a function of the first image data and the second image data;
creating registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages; and
estimating unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface;
wherein;
the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges.
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Abstract
A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.
36 Citations
17 Claims
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1. A method for registering a package during a robotic package handling operation, the method comprising:
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receiving first image data representative of a first surface image of a package surface; determining that the package is unregistered based on comparing the first surface image to a registration record; identifying a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface; determining a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges; generating one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package; receiving second image data representative of the package after the lift; determining third image data as a function of the first image data and the second image data; creating registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages; and estimating unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface; wherein; the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for registering an unregistered package during a robotic package handling operation, the system comprising:
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at least one processor; and at least one memory coupled to the at least one processor, the memory including instructions executable by the at least one processor to; receive first image data representative of a first surface image of a package surface; determine that the package is unregistered based on comparing the first surface image to a registration record; identify a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface; determine a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges; generate one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package; receive second image data of the package, wherein the second image data represents the package after the lift; determine third image data as a function of the first image data and the second image data; and create registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages; and estimate unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface; wherein; the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges. - View Dependent Claims (11, 12, 13, 17)
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14. A non-transitory memory medium storing computer-executable instructions, when executed by a computing system, cause the computing system to perform a computer-implemented method, the instructions comprising:
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instructions to receive first image data representative of a first surface image of a package surface; instructions to determine that the package is unregistered based on comparing the first surface image to a registration record; instructions to identify a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface; instructions to determine a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges; instructions to generate one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package; instructions to receive second image data of the package, wherein the second image data represents the package after the lift; instructions to determine third image data as a function of the first image data and the second image data; instructions to create registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages; and instructions to estimate unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface; wherein; the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges. - View Dependent Claims (15, 16)
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Specification