-
公开(公告)号：US11571816B2
公开(公告)日：2023-02-07
申请号：US16749365
申请日：2020-01-22
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.
-
12.发明授权公开(公告)号：US11288810B2
公开(公告)日：2022-03-29
申请号：US16888376
申请日：2020-05-29
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: G06T7/13 , G06T7/73 , G06T7/50 , G06T7/62 , G06T19/20 , G06T7/11 , G06K9/00 , G06K9/32 , B25J9/16 , B65G61/00 , G05B19/4093 , G06Q10/08 , B65B43/46
Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.
-
13.发明授权公开(公告)号：US11090808B2
公开(公告)日：2021-08-17
申请号：US16592742
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
Abstract: Automatic calculation of a trajectory by taking the interference with an obstacle into account may be performed by calculating trajectory information representing a trajectory on which (i) the picking hand picks, on the first position, the work with a posture associated with the first position included in the first combination; and (ii) the picking hand arranges, on the second position, the work with a posture associated with the second position included in the first combination, and determining whether an interference is present or absent on the trajectory represented by the trajectory information calculated in the calculating a trajectory.
-
公开(公告)号：US10970866B2
公开(公告)日：2021-04-06
申请号：US16739184
申请日：2020-01-10
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Xutao Ye , Ziyan Zhou
Abstract: A control apparatus includes a first information acquiring section that acquires three-dimensional information of a first region of surfaces of a plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a first location; a second information acquiring section that acquires three-dimensional information of a second region of surfaces of the plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a second location; and a combining section that generates information indicating three-dimensional shapes of at least a portion of the surfaces of the plurality of objects, based on the three-dimensional information of the first region acquired by the first information acquiring section and the three-dimensional information of the second region acquired by the second information acquiring section.
-
15.发明授权公开(公告)号：US10906184B2
公开(公告)日：2021-02-02
申请号：US16864071
申请日：2020-04-30
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
-
Patent Agency Ranking
公开(公告)号：US10562189B1
公开(公告)日：2020-02-18
申请号：US16443757
申请日：2019-06-17
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
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.
-
公开(公告)号：US20230381954A1
公开(公告)日：2023-11-30
申请号：US18306949
申请日：2023-04-25
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
CPC classification number: B25J9/1612 , B25J9/1664 , G06T7/73 , B25J9/1697 , B25J9/1661 , G01S17/89
Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data; calculating a confidence measure associated with an accuracy of the initial pose; and determining that the confidence measure fails to satisfy a sufficiency condition; and deriving a motion plan accordingly for scanning an object identifier while transferring the target object from a start location to a task location.
-
公开(公告)号：US11780101B2
公开(公告)日：2023-10-10
申请号：US17313921
申请日：2021-05-06
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: B25J15/06 , B25J9/16 , G06T7/13 , G06T7/50 , B25J13/08 , G06T7/00 , G06T7/66 , B25J9/00 , B65G47/91 , B65G61/00 , G06T1/00 , G06V10/44 , G06V20/10 , G06F18/22
CPC classification number: B25J15/0616 , B25J9/0093 , B25J9/1697 , B25J13/085 , B65G47/91 , B65G61/00 , G06F18/22 , G06T1/0014 , G06T7/001 , G06T7/13 , G06T7/50 , G06T7/66 , G06V10/443 , G06V20/10 , G05B2219/39001 , G05B2219/40067 , G06T2207/20212
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.
-
公开(公告)号：US11027427B2
公开(公告)日：2021-06-08
申请号：US16592760
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
Abstract: A point cloud information acquiring unit for acquiring point cloud information of a region including at least one of the picking hand and the work at a time which is at least one of (i) when the picking hand picks the work at the first position, (ii) when the picking hand moves the work out of the first container, (iii) when the picking hand moves the work in the second container and (iv) when the picking hand arranges the work at the second position; and an abnormality detection unit for detecting an abnormality based on the point cloud information acquired by the point cloud information acquiring unit are included.
-
20.发明授权公开(公告)号：US11014241B2
公开(公告)日：2021-05-25
申请号：US16732832
申请日：2020-01-02
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for camera calibration verification is presented. The robot control system is configured to perform a first camera calibration, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second camera calibration if the threshold is exceeded.
-
-
-
-
-
-
-
-
-
Search Results
44
records
(took 0.016 seconds)
