公开(公告)号：US20240316779A1

公开(公告)日：2024-09-26

申请号：US18607407

申请日：2024-03-15

Applicant: MUJIN, Inc.

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

IPC: B25J9/16 ,  B25J9/00 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

CPC classification number: B25J9/1687 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1697 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

Abstract: A robotic system may include a chassis operatively coupled to 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. The robotic system may further include a controller configured to operate the chassis, the conveyors, the segments, the gripper, or a combination thereof to remove and transfer objects away from a cargo loading structure, such as a cargo container.

公开(公告)号：US20240075619A1

公开(公告)日：2024-03-07

申请号：US18465101

申请日：2023-09-11

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Yoshiki Kanemoto ,  Denys Kanunikov

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

CPC classification number: B25J9/1664 ,  B25J9/1661 ,  B25J9/1697 ,  G01S17/89 ,  G06T7/73

Abstract: The present disclosure provides a control method of a robotic system. The 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：US11911919B2

公开(公告)日：2024-02-27

申请号：US17193268

申请日：2021-03-05

Applicant: MUJIN, INC.

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

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

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：US20230071488A1

公开(公告)日：2023-03-09

申请号：US17901739

申请日：2022-09-01

Applicant: MUJIN, Inc.

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

IPC: B25J9/16

Abstract: A system and method for processing overlapped flexible objects is disclosed.

公开(公告)号：US20230070495A1

公开(公告)日：2023-03-09

申请号：US17902694

申请日：2022-09-02

Applicant: MUJIN, Inc.

Inventor： Puttichai Lertkultanon ,  Hironori Mizoguchi ,  Yoshiki Kanemoto ,  Rosen Nikolaev Diankov

IPC: B25J9/16

Abstract: A system and method for operating a transfer robot to grasp and transfer objects is disclosed. The transport robot includes a robotic gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum to grasp a target object. The gripper assembly can be configured and/or operated according to one or more physical characteristics of targeted objects and/or corresponding scenarios.

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：US20220305656A1

公开(公告)日：2022-09-29

申请号：US17806432

申请日：2022-06-10

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. The 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：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.

公开(公告)号：US20200238519A1

公开(公告)日：2020-07-30

申请号：US16752582

申请日：2020-01-24

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.