公开(公告)号：US20230008540A1

公开(公告)日：2023-01-12

申请号：US17944117

申请日：2022-09-13

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 ,  G06Q10/08 ,  G06T7/11 ,  G06T7/50 ,  G06V10/25 ,  G06T19/20 ,  G06T7/62 ,  B65G61/00 ,  G06V20/64 ,  G05B19/4093 ,  B65B43/46 ,  G06T7/73

Abstract: A system and method for operating a robotic system to scan and register unrecognized objects is disclosed. The robotic system may use an image data representative of an unrecognized object located at a start location to implement operations for transferring the unrecognized object from the start location. While implementing the operations, the robotic system may obtain additional data, including scanning results of one or more portions of the unrecognized object not included in the image data. The robotic system may use the additional data to register the unrecognized object.

公开(公告)号：US20220297305A1

公开(公告)日：2022-09-22

申请号：US17806379

申请日：2022-06-10

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: B25J9/16 ,  B25J19/02 ,  B65G61/00 ,  G06T1/00 ,  G06K9/62 ,  G06V10/44 ,  G06V20/64 ,  G06T7/73 ,  G06T7/13 ,  G06T7/174

Abstract: The present disclosure relates to verifying an initial object estimation of an object. A two-dimensional (2D) image representative of an environment including one or more objects may be obtained. The 2D image may be inspected to detect edges of an object. The edges may be processed to verify or update an initial object estimation to increase the accuracy of an object detection result.

公开(公告)号：US10583560B1

公开(公告)日：2020-03-10

申请号：US16374617

申请日：2019-04-03

Applicant: Mujin, Inc.

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

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

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 an 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：US12290944B2

公开(公告)日：2025-05-06

申请号：US17732271

申请日：2022-04-28

Applicant: MUJIN, Inc.

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

IPC: B25J13/08 ,  B25J9/16 ,  G01B11/06 ,  G01B11/24 ,  G06Q10/08 ,  G06T7/254

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

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：US11288814B2

公开(公告)日：2022-03-29

申请号：US16909709

申请日：2020-06-23

Applicant: Mujin, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues ,  Xutao Ye

IPC: G06T7/181 ,  G06T7/33 ,  G06T7/13 ,  G06T7/174

Abstract: A system and method of detecting objects are provided. The method includes generating first edge information from first image data representing an object based on a first mode of image capture, generating second edge information from second image data representing the object based on a second mode of image capture, the second mode being different from the first mode, fusing the first edge information with the second edge information to generate fused edge information, generating an object detection hypothesis based on the fused edge information, and validating the object detection hypothesis based on the fused edge information, the first edge information, and/or the second edge information.

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：US20210256705A1

公开(公告)日：2021-08-19

申请号：US16791024

申请日：2020-02-14

Applicant: MUJIN, INC.

Inventor： Jinze YU ,  Jose Jeronimo Moreira Rodrigues

IPC: G06T7/13 ,  G06T7/12 ,  G06F17/16

Abstract: A system and method for processing candidate edges are presented. The method may be performed when spatial structure information and 2D image information are stored. The method may include identifying, based on the spatial structure information, a 3D location that represents a corner of an object structure; identifying, based on the spatial structure information, a 3D vector that extends from the 3D location and is parallel with an edge; determining a 2D location within the 2D image information that corresponds to the 3D location; determining a 2D vector within the 2D image information that corresponds to the 3D vector; determining an edge detection region; identifying a cluster of candidate edges within the edge detection region that does not represent any object edge; identifying, as a 2D object edge, a candidate edge that is not part of the identified cluster; and performing segmentation based on the 2D object edge.