公开(公告)号：US20210146533A1

公开(公告)日：2021-05-20

申请号：US17157975

申请日：2021-01-25

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov

IPC: B25J9/16 ,  G06T7/73

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：US10933527B2

公开(公告)日：2021-03-02

申请号：US16743313

申请日：2020-01-15

Applicant: Mujin, Inc.

Inventor： Rosen Diankov

IPC: B25J9/00 ,  B25J9/16 ,  G06T7/73 ,  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：US10576636B1

公开(公告)日：2020-03-03

申请号：US16383389

申请日：2019-04-12

Applicant: MUJIN, INC.

Inventor： Russell Islam ,  Xutao Ye ,  Rosen Diankov

IPC: B25J13/08 ,  B25J9/16 ,  G06T7/80

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.

公开(公告)号：US10562188B1

公开(公告)日：2020-02-18

申请号：US16443743

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：US10373336B1

公开(公告)日：2019-08-06

申请号：US16362471

申请日：2019-03-22

Applicant: MUJIN, INC.

Inventor： Russell Islam ,  Xutao Ye ,  Rosen Diankov

IPC: G06T7/80 ,  B25J9/16 ,  G06T7/73 ,  G06T5/00 ,  G06T7/60 ,  G06T7/50

Abstract: A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to control a robot arm to move a calibration pattern to at least one location within a camera field of view, and to receive a calibration image from a camera. The control circuit determines a first estimate of a first intrinsic camera parameter based on the calibration image. After the first estimate of the first intrinsic camera parameter is determined, the control circuit determines a first estimate of a second intrinsic camera parameter based on the first estimate of the first intrinsic camera parameter. These estimates are used 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 controls placement of the robot arm based on the estimate of the transformation function.

公开(公告)号：US12263598B2

公开(公告)日：2025-04-01

申请号：US18302856

申请日：2023-04-19

Applicant: MUJIN, INC.

Inventor： Rosen Diankov

IPC: B25J9/16 ,  B65G47/90

Abstract: An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.

公开(公告)号：US20230415360A1

公开(公告)日：2023-12-28

申请号：US18463233

申请日：2023-09-07

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 ,  B25J9/1697 ,  G06T7/13 ,  G06T7/50 ,  B25J13/085 ,  G06T7/001 ,  G06T7/66 ,  B25J9/0093 ,  B65G47/91 ,  B65G61/00 ,  G06T1/0014 ,  G06V10/443 ,  G06V20/10 ,  G06F18/22 ,  G05B2219/40067 ,  G06T2207/20212 ,  G05B2219/39001

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：US11839977B2

公开(公告)日：2023-12-12

申请号：US17326483

申请日：2021-05-21

Applicant: MUJIN, INC.

Inventor： Rosen Diankov

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1666 ,  B25J9/1679

Abstract: A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

公开(公告)号：US11590656B2

公开(公告)日：2023-02-28

申请号：US17135261

申请日：2020-12-28

Applicant: MUJIN, INC.

Inventor： Russell Islam ,  Xutao Ye ,  Rosen Diankov

IPC: B25J9/16 ,  G06T7/80

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.

公开(公告)号：US11247341B2

公开(公告)日：2022-02-15

申请号：US16882518

申请日：2020-05-24

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Rosen Diankov

IPC: B25J9/16 ,  B25J9/00 ,  B25J15/06 ,  B25J13/08 ,  G06T1/00 ,  G06T7/66 ,  B65G47/91 ,  B65G61/00 ,  G06T7/13 ,  G06T7/50 ,  G06K9/62 ,  G06T7/00 ,  G06K9/46 ,  G06K9/00

Abstract: A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of a manipulator while a target item is being transported; a mass information acquiring unit for acquiring mass information representing a mass of the item; a plan information acquiring unit for acquiring plan information representing content of a plan of a trajectory; a force sensation estimating unit for estimating a magnitude of at least one of a force and a torque to be detected at the distal end of the manipulator; and a first detecting unit for detecting an abnormality, based on the magnitude of at least one of the force and the torque represented by the force sensation information and the magnitude of at least one of the force and the torque estimated by the estimating unit.