公开(公告)号：US11228751B1

公开(公告)日：2022-01-18

申请号：US16811206

申请日：2020-03-06

Applicant: X Development LLC

Inventor： Jared Stephen Russell ,  Julian MacNeille Mason

IPC: G06K9/00 ,  H04N13/204 ,  G06T7/33 ,  H04N13/257 ,  B65G69/00 ,  H04N5/372 ,  B65D19/38 ,  H04N7/18 ,  G06T17/20 ,  G06K9/62 ,  G06T7/90

Abstract: Methods, apparatus, systems, and computer-readable media are provided that relate to using one or more vision sensors to capture images of a loaded pallet in association with application of stretch wrap to the loaded pallet by an automated pallet wrapping machine. The images are used to generate an image-based identifier for the loaded pallet that is then used for pallet identification by mobile robots and/or other automated agents in a warehouse or other environment. In some implementations, the images are captured by the vision sensor when the pallet is in the wrapping area of the automated pallet wrapping machine and while the vision sensor and/or the pallet are rotating. In some implementations, the image-based identifier may be assigned to pallet attributes and/or a de-palletizing scheme of the loaded pallet.

公开(公告)号：US09764470B2

公开(公告)日：2017-09-19

申请号：US14875648

申请日：2015-10-05

Applicant: X Development LLC

Inventor： Rohit Ramesh Saboo ,  Julian MacNeille Mason

IPC: G06F19/00 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/0084 ,  G05D1/0217 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216 ,  G06Q10/06311 ,  Y10S901/01 ,  Y10S901/46

Abstract: Methods, apparatus, systems, and computer-readable media are provided for selectively deploying robots to performing mapping based on added cost. In various implementations, a measure of interest in mapping an area of an environment may be determined. A cost associated with a robot performing a task may also be determined. Then, an added cost associated with the robot mapping the area of the environment while performing the task may be determined. The robot may be selectively deployed to map the area while performing the task in response to a determination that the measure of interest justifies the added cost.

公开(公告)号：US09826213B1

公开(公告)日：2017-11-21

申请号：US14861825

申请日：2015-09-22

Applicant: X Development LLC

Inventor： Jared Russell ,  Julian MacNeille Mason

IPC: G06K9/00 ,  H04N13/02 ,  H04N7/18 ,  G06T17/20 ,  G06T7/00 ,  G06K9/62 ,  H04N5/372 ,  B65G69/00 ,  B65D19/38

CPC classification number: H04N13/204 ,  B65D19/38 ,  B65D2201/00 ,  B65G1/1371 ,  G06K9/00664 ,  G06K2209/19 ,  G06T7/0075 ,  G06T7/0085 ,  G06T17/20 ,  G06T2207/10021 ,  H04N5/372 ,  H04N7/183 ,  H04N13/257

Abstract: Methods, apparatus, systems, and computer-readable media are provided that relate to using one or more vision sensors to capture images of a loaded pallet in association with application of stretch wrap to the loaded pallet by an automated pallet wrapping machine. The images are used to generate an image-based identifier for the loaded pallet that is then used for pallet identification by mobile robots and/or other automated agents in a warehouse or other environment. In some implementations, the images are captured by the vision sensor when the pallet is in the wrapping area of the automated pallet wrapping machine and while the vision sensor and/or the pallet are rotating. In some implementations, the image-based identifier may be assigned to pallet attributes and/or a de-palletizing scheme of the loaded pallet.