公开(公告)号：US20220076425A1

公开(公告)日：2022-03-10

申请号：US17527012

申请日：2021-11-15

Applicant: MUJIN, Inc.

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

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

Abstract: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.

公开(公告)号：US11189033B2

公开(公告)日：2021-11-30

申请号：US16667840

申请日：2019-10-29

Applicant: MUJIN, Inc.

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

IPC: G06F7/00 ,  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: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects at a start location. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.

公开(公告)号：US10987807B2

公开(公告)日：2021-04-27

申请号：US16749354

申请日：2020-01-22

Applicant: Mujin, Inc.

Inventor： Jose Jeronimo Moreira Rodrigues ,  Xutao Ye ,  Jinze Yu ,  Rosen Nikolaev Diankov

IPC: B25J9/16 ,  B65G1/137 ,  G06K9/00 ,  G06K9/62

Abstract: A robotic system includes: a control unit configured to: receive an object set including one or more object entries, wherein: the object entries correspond to source objects of an object source, each of the object entries are described by one or more object entry properties; receive sensor information representing one or more detectable object properties for detectable source objects of the object source; calculate an object match probability between the detectable source objects and the object entries based on a property correlation between the detectable object properties of the detectable source objects and the object entry properties of the object entries; generate an object identity approximation for each of the detectable source objects based on a comparison between the object match probability for each of the detectable source objects corresponding to a particular instance of the object entries; select a target object from the detectable source objects; generate an object handling strategy, for implementation by an object handling unit, to transfer the target object from the object source based on the object entry properties of the object entries corresponding to the object identity approximation; update the object set to indicate that the target object corresponding to a specific instance of the object entries has been removed from the object source; and a storage unit 204, coupled to the control unit, configured to store the object set.

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：US12272070B2

公开(公告)日：2025-04-08

申请号：US18460106

申请日：2023-09-01

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Xutao Ye

IPC: G06T7/64 ,  G06T7/12 ,  G06V10/24 ,  G06V10/44 ,  G06V20/64

Abstract: Systems and methods for processing spatial structure data are provided. The system accesses spatial structure data, which describes object structure, and which has depth information indicative of a plurality of layers for the object structure. The system further extracts, from the spatial structure data, a portion of the spatial structure data representative of one layer of the plurality of layers. The system identifies, from the portion of the spatial structure data, a plurality of vertices that describe a contour of the layer. Additionally, the system identifies convex corners of the layer based on the plurality of vertices and performs object recognition according to the convex corners.

公开(公告)号：US11961042B2

公开(公告)日：2024-04-16

申请号：US17527012

申请日：2021-11-15

Applicant: MUJIN, Inc.

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

IPC: G06F7/00 ,  B25J9/16 ,  B65B43/46 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/087 ,  G06T7/11 ,  G06T7/13 ,  G06T7/50 ,  G06T7/62 ,  G06T7/73 ,  G06T19/20 ,  G06V10/20 ,  G06V10/25 ,  G06V20/64 ,  G06V10/44

CPC classification number: G06Q10/087 ,  B25J9/1676 ,  B25J9/1687 ,  B25J9/1697 ,  B65B43/46 ,  B65G61/00 ,  G05B19/40935 ,  G06T7/11 ,  G06T7/13 ,  G06T7/50 ,  G06T7/62 ,  G06T7/73 ,  G06T19/20 ,  G06V10/25 ,  G06V10/255 ,  G06V20/64 ,  G05B2219/40006 ,  G05B2219/40607 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30108 ,  G06V10/44

Abstract: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.

公开(公告)号：US11772271B2

公开(公告)日：2023-10-03

申请号：US16991466

申请日：2020-08-12

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: B25J9/16 ,  G06N20/00 ,  B25J13/08 ,  G06V20/10 ,  G06V10/22 ,  G06V10/44 ,  G06F18/241 ,  B65G61/00

CPC classification number: B25J9/1697 ,  B25J9/163 ,  B25J9/1661 ,  B25J9/1664 ,  B25J13/08 ,  G06F18/241 ,  G06N20/00 ,  G06V10/22 ,  G06V10/443 ,  G06V20/10 ,  B65G61/00 ,  G06V2201/06 ,  G06V2201/07

Abstract: A computing system and method for object recognition is presented. The method includes the computing system obtaining an image for representing the one or more objects, and generating a target image portion associated with one of the one or more objects. The computing system determines whether to classify the target image portion as textured or textureless, and selects a template storage space from among a first and second template storage space, wherein the first template storage space is cleared more often relative to the second template storage space. The first template storage space is selected in response to a textureless classification, and the second template storage space is selected as the template storage space in response to a textured classification. The computing system performs object recognition based on the target image portion and the selected template storage space.

公开(公告)号：US11763459B2

公开(公告)日：2023-09-19

申请号：US16797129

申请日：2020-02-21

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Xutao Ye

IPC: G06T7/64 ,  G06T7/12 ,  G06V20/64 ,  G06V10/44 ,  G06V10/24

CPC classification number: G06T7/12 ,  G06T7/64 ,  G06V10/245 ,  G06V10/44 ,  G06V20/64 ,  G06T2207/10028 ,  G06T2207/20164

Abstract: Systems and methods for processing spatial structure data are provided. The system accesses spatial structure data, which describes object structure, and which has depth information indicative of a plurality of layers for the object structure. The system further extracts, from the spatial structure data, a portion of the spatial structure data representative of one layer of the plurality of layers. The system identifies, from the portion of the spatial structure data, a plurality of vertices that describe a contour of the layer. Additionally, the system identifies convex corners of the layer based on the plurality of vertices and performs object recognition according to the convex corners.

公开(公告)号：US20230041343A1

公开(公告)日：2023-02-09

申请号：US17732271

申请日：2022-04-28

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues ,  Rosen Nikolaev Diankov

IPC: B25J9/16 ,  B25J13/08

Abstract: A system and method for estimating aspects of target objects and/or associated task implementations is disclosed.

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.