Automated package registration systems, devices, and methods

Abstract

A method of operating a robotic system includes: receiving first image data representative of a package surface; identifying a pair of edges based on the first image data; determining a minimum viable region based on the pair of edges; receiving second image data representative of the package after the lift; and creating registration data based on the first and second image data.

What is claimed is: 
     
         1 . A method of operating a robotic system, the method comprising:
 identifying a pair of edges based on image data that represents a package;   determining a minimum viable region based on the pair of edges;   generating one or more commands for moving the package based on the minimum viable region;   obtaining an attribute associated with the package; and   creating registration data representative of a new registration record of the package based on at least the attribute associated with the package.   
     
     
         2 . The method of  claim 1 , wherein the attribute includes additional image data representing the package. 
     
     
         3 . The method of  claim 1 , wherein the attribute includes a length, a width, a height, a weight, or a center of mass (CoM) of the package. 
     
     
         4 . The method of  claim 1 , wherein the attribute includes a design, marking, appearance, or exterior shape/outline of the package. 
     
     
         5 . The method of  claim 1 , wherein creating the registration data based on at least the attribute associated with the package includes comparing the attribute to a template surface image representing known or previously determined visible characteristics of the package. 
     
     
         6 . The method of  claim 1 , wherein the attribute is received after moving the package. 
     
     
         7 . The method of  claim 1 , wherein:
 the image data includes a three-dimensional depth map and a two-dimensional surface image of a group of objects including the package;   the pair of edges are identified based on the three-dimensional depth map; and   the attribute is obtained based on the two-dimensional surface image or the three-dimensional depth map.   
     
     
         8 . The method of  claim 1 , wherein determining the minimum viable region includes determining a size of the minimum viable region based on a gripper size representative of one or more lateral dimensions of an end-effector. 
     
     
         9 . The method of  claim 1 , further comprising:
 receiving data after moving the package, wherein the data represents a measurement from a sensor connected to or integral with an end-effector;   obtaining the attribute includes determining a center of mass location of the package based on the received data; and   when the determined center of mass location is outside of the minimum viable region, generating one or more commands for (1) releasing the package from the end-effector, (2) placing the end-effector over the center of mass location, and (3) regripping the package based on the center of mass location.   
     
     
         10 . A robotic system comprising:
 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:
 identify a pair of edges based on image data that represents a package; 
 determine a minimum viable region based on the pair of edges; 
 generate one or more commands for moving the package based on the minimum viable region; 
 obtain an attribute associated with the package; and 
 create registration data representative of a new registration record of the package based on at least the attribute associated with the package. 
   
     
     
         11 . The system of  claim 10 , wherein the attribute includes additional image data representing the package. 
     
     
         12 . The system of  claim 10 , wherein the attribute includes a length, a width, a height, a weight, or a center of mass (CoM) of the package. 
     
     
         13 . The system of  claim 10 , wherein the attribute includes a design, marking, appearance, or exterior shape/outline of the package. 
     
     
         14 . The system of  claim 10 , wherein creating the registration data based on at least the attribute associated with the package includes comparing the attribute to a template surface image representing known or previously determined visible characteristics of the package. 
     
     
         15 . The system of  claim 10 , wherein the attribute is received after moving the package. 
     
     
         16 . 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 method comprising:
 identifying a pair of edges based on image data that represents a package;   determining a minimum viable region based on the pair of edges;   generating one or more commands for moving the package based on the minimum viable region;   obtain an attribute associated with the package; and   creating registration data representative of a new registration record of the package based on at least the attribute associated with the package.   
     
     
         17 . The non-transitory memory medium of  claim 16 , wherein the attribute includes additional image data representing the package. 
     
     
         18 . The non-transitory memory medium of  claim 16 , wherein the attribute includes a length, a width, a height, a weight, or a center of mass (CoM) of the package. 
     
     
         19 . The non-transitory memory medium of  claim 16 , wherein the attribute includes a design, marking, appearance, or exterior shape/outline of the package. 
     
     
         20 . The non-transitory memory medium of  claim 16 , wherein creating the registration data based on at least the attribute associated with the package includes comparing the attribute to a template surface image representing known or previously determined visible characteristics of the package.