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;
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;
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 and wherein the minimum viable region does not overlap with the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear 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;
detecting a trigger representing a timing when the package crosses a horizontal detection plane associated with a height determination sensor located at a known height;
determining a vertical position associated with the trigger, wherein the vertical position represents a vertical location of the end effector at the timing when the package crosses the horizontal detection plane; and
calculating a height representing a dimension of the package along a vertical direction based on a difference between the known height and the vertical position;
wherein;
the registration data includes the calculated height.
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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.
19 Citations
18 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; 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; 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 and wherein the minimum viable region does not overlap with the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear 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; detecting a trigger representing a timing when the package crosses a horizontal detection plane associated with a height determination sensor located at a known height; determining a vertical position associated with the trigger, wherein the vertical position represents a vertical location of the end effector at the timing when the package crosses the horizontal detection plane; and calculating a height representing a dimension of the package along a vertical direction based on a difference between the known height and the vertical position; wherein; the registration data includes the calculated height. - View Dependent Claims (2, 3, 4, 5, 6, 7, 17)
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8. 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; 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; 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 and wherein the minimum viable region does not overlap with the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear 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; create registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages detect a trigger representing a timing when the package crosses a horizontal detection plane associated with a height determination sensor located at a known height; determine a vertical position associated with the trigger, wherein the vertical position represents a vertical location of the end effector at the timing when the package crosses the horizontal detection plane; and calculate a height representing a dimension of the package along a vertical direction based on a difference between the known height and the vertical position; wherein; the registration data includes the calculated height. - View Dependent Claims (9, 10, 11, 12)
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13. A non-transitory memory medium storing computer-executable instructions, when executed by a computing system, cause the computing system to perform a method, 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; 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; 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 and wherein the minimum viable region does not overlap with the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear 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 of the package, wherein the second image data represents 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; detecting a trigger representing a timing when the package crosses a horizontal detection plane associated with a height determination sensor located at a known height; determining a vertical position associated with the trigger, wherein the vertical position represents a vertical location of the end effector at the timing when the package crosses the horizontal detection plane; and calculating a height representing a dimension of the package along a vertical direction based on a difference between the known height and the vertical position; wherein; the registration data includes the calculated height. - View Dependent Claims (14, 15, 16, 18)
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Specification