公开(公告)号：US11845191B1

公开(公告)日：2023-12-19

申请号：US16453047

申请日：2019-06-26

Applicant: Amazon Technologies, Inc.

Inventor： Kamal Ramachandran Kuzhinjedathu ,  Pinak Shikhare ,  Vivek Rangaswamy ,  Andres Camilo Cortes Lopez

IPC: B25J9/16 ,  B65G47/90 ,  B23P19/00

CPC classification number: B25J9/1679 ,  B23P19/007 ,  B25J9/1602 ,  B25J9/1697 ,  B65G47/90

Abstract: Image data from an image sensor is input into a predictive model to identify perimeter edges of a set of cuboidal items held on a pallet. Depth data from a depth sensor is used to identify a top surface of a first cuboidal item of the set of cuboidal items. Coordinates associated with corners of the first cuboidal item are identified using information about the perimeter edges and the top surface. The coordinates are used to generate instructions for a robotic manipulator to pick up the first cuboidal item.