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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.
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.
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32.发明授权公开(公告)号：US12269164B2
公开(公告)日：2025-04-08
申请号：US17733024
申请日：2022-04-29
Applicant: MUJIN, INC.
Inventor： Xutao Ye , Hamdi Sahloul , Puttichai Lertkultanon , Rosen Nikolaev Diankov
IPC: B25J9/16
Abstract: A method and computing system for transferring objects between a source repository and a destination repository is provided. The computing system is configured to operate by a combination of pre-planned and image base trajectories to improve speed and reliability of object transfer. The computing system is configured to capture image information of repositories and use the captured information to alter or adjust pre-planned trajectories to improve performance.
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公开(公告)号：US12186918B2
公开(公告)日：2025-01-07
申请号：US18162455
申请日：2023-01-31
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
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.
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公开(公告)号：US12165361B2
公开(公告)日：2024-12-10
申请号：US17956274
申请日：2022-09-29
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye
Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
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35.发明授权公开(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.
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Patent Agency Ranking
36.发明公开公开(公告)号：US20240078512A1
公开(公告)日：2024-03-07
申请号：US18468591
申请日：2023-09-15
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Russell Islam , Xutao Ye
IPC: G06Q10/087 , B25J9/16 , B65B43/46 , B65G61/00 , G05B19/4093 , G06T7/11 , G06T7/13 , G06T7/50 , G06T7/62 , G06T7/73 , G06T19/20 , G06V10/20 , G06V10/25 , G06V20/64
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: A system and method for operating a robotic system to register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object to derive an initial minimum viable region (MVR). The robotic system may analyze second image data representative of the unrecognized object to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.
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37.发明授权公开(公告)号：US11883964B2
公开(公告)日：2024-01-30
申请号：US18164295
申请日：2023-02-03
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
CPC classification number: B25J9/1692 , B25J9/1697 , G06T7/80 , G05B2219/39008 , G06T2207/30164
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.
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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.
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.
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公开(公告)号：US20230052763A1
公开(公告)日：2023-02-16
申请号：US17885366
申请日：2022-08-10
Applicant: MUJIN, Inc.
Inventor： Lei Lei , Yixuan Zhang , Xutao Ye , Yi Xu , Brandon Coats , Rosen Nikolaev Diankov , Zhili Lai , Guohao Huang
IPC: B65G47/91
Abstract: Robotic systems with variable gripping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an object-gripping assembly coupled to the robotic arm. The object-gripping assembly can include a main body coupled to the robotic arm through an external connector on an upper surface of the main body and a vacuum operated gripping component coupled to a lower surface of the main body. The object-gripping assembly can also include a variable-width gripping component coupled to the main body. The variable-width gripping component is movable between a fully folded state, a plurality of extended states, and a clamping state to grip a variety of target objects of varying shapes, sizes, weights, and orientations.
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公开(公告)号：US11571816B2
公开(公告)日：2023-02-07
申请号：US16749365
申请日：2020-01-22
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
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.
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