公开(公告)号：US11524846B2

公开(公告)日：2022-12-13

申请号：US17138432

申请日：2020-12-30

申请人： Gideon Brothers d.o.o.

发明人： Josip Cesic ,  Daniel Guja ,  Juraj Radic

IPC分类号： G06V20/64 ,  B65G1/06 ,  B66F9/06 ,  G05D1/02 ,  G05D1/00 ,  B65G1/137 ,  G06V20/10 ,  G06F3/0486 ,  G06V30/194 ,  G06K9/62 ,  G06F3/04847

摘要： A system and a method are disclosed where an autonomous robot captures an image of an object to be transported from a source to a destination. The robot generates a bounding box within the image surrounding the object. The robot applies a machine-learned model to the image with the bounding box, the machine-learned model configured to identify an object type of the object, and to identify features of the object based on the identified object type and the image. The robot determines which of the identified features of the object are visible to the autonomous robot, and determines a three-dimensional pose of the object based on the features determined to be visible to the autonomous robot.

公开(公告)号：US20240208736A1

公开(公告)日：2024-06-27

申请号：US18544101

申请日：2023-12-18

申请人： Gideon Brothers d.o.o.

发明人： Juraj Radic ,  Valentina Zadrija ,  Darko Janekovic

IPC分类号： B65G43/02 ,  B65G1/04

CPC分类号： B65G43/02 ,  B65G1/04 ,  B65G2203/0233 ,  B65G2203/041

摘要： An autonomous mobile robot receives sensor data from one or more sensors. The sensor data includes image data depicting a load coupled to a pallet and depth data indicating distance of surfaces of the load or the pallet from the one or more sensors. A first machine-learning model is applied to the image data to generate a first mask and second mask. The first mask represents the load, and the second mask represents the pallet. The first mask, the second mask, and/or the depth data are then used to determine a load orientation and load size. Based on the load orientation and load size, the robot evaluates the load's stability. If the stability is deemed safe, the robot is caused to lift the pallet.