公开(公告)号：US20200294244A1

公开(公告)日：2020-09-17

申请号：US16888376

申请日：2020-05-29

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: G06T7/13 ,  B25J9/16 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06K9/00 ,  G06K9/32

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.

公开(公告)号：US10766141B1

公开(公告)日：2020-09-08

申请号：US16824673

申请日：2020-03-19

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Shintaro Matsuoka ,  Yoshiki Kanemoto ,  Hironori Mizoguchi

IPC: G06F17/00 ,  B25J9/16 ,  B65G15/00 ,  B65G47/90 ,  B65G67/00 ,  B25J19/02 ,  B65G47/76

Abstract: The present disclosure relates to operation of a robotic system to transfer an object from a source to a destination. The robotic system may implement one or more motion plans or portions thereof to operate a picking robot to grip and lift the object and place a transfer tray under the lifted object. The robotic system may further implement the one or more motion plans or portions thereof to place the object on the transfer tray and laterally displace the transfer tray and the object thereon toward the destination. The robotic system may operate a placement mechanism to transfer the object from the transfer tray to the destination.

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

IPC: B25J9/16 ,  G06T7/00 ,  B25J13/08 ,  G06T7/50 ,  G06T7/13 ,  G06K9/62

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：US11900652B2

公开(公告)日：2024-02-13

申请号：US17193253

申请日：2021-03-05

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo Moreira Rodrigues ,  Rosen Nikolaev Diankov ,  Jinze Yu ,  Ahmed Abouelela ,  Yoshiki Kanemoto

IPC: B25J13/00 ,  G06V10/75 ,  B25J13/08 ,  B25J9/16 ,  G06V20/10 ,  G06V10/25 ,  G06V10/44 ,  G06V20/64

CPC classification number: G06V10/751 ,  B25J9/1666 ,  B25J9/1697 ,  B25J13/08 ,  G06V10/25 ,  G06V10/443 ,  G06V20/10 ,  G06V20/647

Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.

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：US11648676B2

公开(公告)日：2023-05-16

申请号：US16985130

申请日：2020-08-04

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Shintaro Matsuoka ,  Yoshiki Kanemoto ,  Hironori Mizoguchi

IPC: G06F17/00 ,  B25J9/16 ,  B65G15/00 ,  B65G47/90 ,  B65G67/00 ,  B25J19/02 ,  B65G47/76

CPC classification number: B25J9/1682 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/023 ,  B65G15/00 ,  B65G47/76 ,  B65G47/90 ,  B65G67/00 ,  B65G2203/041 ,  B65G2205/00

Abstract: The present disclosure relates to operation of a robotic system to transfer an object from a source to a destination. The robotic system may implement one or more motion plans or portions thereof to operate a picking robot to grip and lift the object and place a transfer tray under the lifted object. The robotic system may further implement the one or more motion plans or portions thereof to place the object on the transfer tray and laterally displace the transfer tray and the object thereon toward the destination. The robotic system may operate a placement mechanism to transfer the object from the transfer tray to the destination.

公开(公告)号：US20220332524A1

公开(公告)日：2022-10-20

申请号：US17720206

申请日：2022-04-13

Applicant: MUJIN, Inc.

Inventor： Shintaro Matsuoka ,  Hironori Mizoguchi ,  Rosen Nikolaev Diankov ,  Yoshiki Kanemoto ,  Jinze Yu

IPC: B65G47/91

Abstract: A system and method for operating a transfer robot and a multi-surface gripper to grasp and transfer objects is disclosed.

公开(公告)号：US20210154839A1

公开(公告)日：2021-05-27

申请号：US17110205

申请日：2020-12-02

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Yoshiki Kanemoto ,  Denys Kanunikov

IPC: B25J9/16 ,  G01S17/89 ,  G06T7/73

Abstract: The present disclosure provides a control method of a robotic system that implements a high degree of cooperation between units including a robot and increases a storage efficiency of an operation object sufficiently.
A control method includes: deriving an approach location at which the end effector grips an operation object; deriving a scan location for scanning an identifier of the operation object; and based on the approach location and the scan location, creating or deriving a control sequence to instruct the robot to execute the control sequence. The control sequence includes (1) gripping the operation object from a start location; (2) scanning an identifier of the operation object with a scanner located between the start location and a task location; (3) temporarily releasing the operation object from the end effector and regripping the operation object by the end effector to be shifted, at a shift location, when a predetermined condition is satisfied; and (4) moving the operation object to the task location.

公开(公告)号：US10369701B1

公开(公告)日：2019-08-06

申请号：US16290741

申请日：2019-03-01

Applicant: Mujin, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/13 ,  G06T7/50 ,  G06K9/62 ,  B25J13/08 ,  G06T7/00

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：US20240189982A1

公开(公告)日：2024-06-13

申请号：US18532868

申请日：2023-12-07

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Puttichai Lertkultanon ,  Shintaro Matsuoka ,  Yoshiki Kanemoto ,  Jose Jeronimo Moreira Rodrigues ,  Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yufan Du ,  Mingjian Liang ,  Lingping Gao ,  Xinhao Wen ,  Xu Chen

IPC: B25J9/00 ,  B25J5/00 ,  B65G67/08 ,  B65G67/24

CPC classification number: B25J9/0093 ,  B25J5/007 ,  B65G67/08 ,  B65G67/24

Abstract: A robotic system may include a chassis as well as a first leg and a second leg operatively coupled to the chassis. The first leg and the second leg may be configured to move in a vertical direction to move the chassis in a vertical translational degree of freedom. The robotic system may include a proximal conveyor, a first segment including a first segment conveyor extending along a length of the first segment, and a gripper including a distal conveyor extending along a length of the gripper. A first joint between the proximal conveyor and the first segment may be configured to provide a first rotational degree of freedom between the first segment and the proximal conveyor. A second joint between the gripper and the first segment may be configured to provide a second rotational degree of freedom between the first segment and the gripper.