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公开(公告)号：US10532462B1
公开(公告)日：2020-01-14
申请号：US16414396
申请日：2019-05-16
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Denys Kanunikov
Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
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22.发明授权公开(公告)号：US10399227B1
公开(公告)日：2019-09-03
申请号：US16369630
申请日：2019-03-29
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.
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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
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.
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公开(公告)号：US10369698B1
公开(公告)日：2019-08-06
申请号：US16295940
申请日：2019-03-07
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to determine all corner locations of an imaginary cube that fits within a camera field of view, and determine a plurality of locations that are distributed on or throughout the imaginary cube. The control circuit is further configured to control a robot arm to move a calibration pattern to the plurality of locations, and to receive a plurality of calibration images corresponding to the plurality of locations, and to determine respective estimates of intrinsic camera parameters based on the plurality of calibration images, and to determine an estimate of a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit is further configured to control placement of the robot arm based on the estimate of the transformation function.
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公开(公告)号：US10335947B1
公开(公告)日：2019-07-02
申请号：US16252383
申请日：2019-01-18
Applicant: Mujin, Inc.
Inventor： Rosen Diankov , Huan Liu , Denys Kanunikov
Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
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Patent Agency Ranking
公开(公告)号：US12233548B2
公开(公告)日：2025-02-25
申请号：US18306949
申请日：2023-04-25
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
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.
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公开(公告)号：US11836939B2
公开(公告)日：2023-12-05
申请号：US17188160
申请日：2021-03-01
Applicant: MUJIN, INC.
Inventor： Rosen Diankov , Xutao Ye , Ziyan Zhou
IPC: G06T7/55 , G06T7/593 , B25J9/00 , B25J9/16 , B65G59/02 , B65G67/04 , B65G67/24 , G06T5/50 , G06T7/50
CPC classification number: G06T7/55 , B25J9/0093 , B25J9/1697 , B65G59/02 , B65G67/04 , B65G67/24 , G06T5/50 , G06T7/50 , G06T7/593 , B65G2201/0235 , B65G2814/0311 , G06T2207/10028
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.
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公开(公告)号：US20210260771A1
公开(公告)日：2021-08-26
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: B25J9/16 , G06T7/13 , G06T7/50 , G06K9/62 , B25J13/08 , G06T7/00 , G06K9/46 , G06K9/00 , G06T7/66 , B25J9/00 , B25J15/06 , B65G47/91 , B65G61/00 , G06T1/00
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.
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公开(公告)号：US11046518B2
公开(公告)日：2021-06-29
申请号：US16739971
申请日：2020-01-10
Applicant: Mujin, Inc.
Inventor： Isamu Arase , Satoshi Tendo , Rosen Diankov
Abstract: A robot system controller and control method that implement sophisticated cooperation among units is provided. The controller may include: a data acquisition unit adapted to acquire first data including information about the handling object and the shelf before storing or retrieving the handling object in/from the shelf; a data storage unit; and a robot control unit adapted to select and transport the shelf to an access position before storing or retrieving the handling object in/from the shelf, create or acquire a control sequence for storing or retrieving the handling object in/from the shelf, instruct the transport robot to execute a task of transporting the shelf to the access position, and instruct the handling robot to execute a task of storing or retrieving the handling object in/from the shelf.
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公开(公告)号：US11034025B2
公开(公告)日：2021-06-15
申请号：US16736667
申请日：2020-01-07
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 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.
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