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31.发明授权公开(公告)号：US10987807B2
公开(公告)日：2021-04-27
申请号：US16749354
申请日：2020-01-22
Applicant: Mujin, Inc.
Inventor： Jose Jeronimo Moreira Rodrigues , Xutao Ye , Jinze Yu , Rosen Nikolaev Diankov
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 the 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.
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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：US12243117B2
公开(公告)日：2025-03-04
申请号：US18510521
申请日：2023-11-15
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues
IPC: G06T1/00 , B25J9/16 , B25J19/02 , B65G61/00 , G06F18/23 , G06T7/13 , G06T7/174 , G06T7/33 , G06T7/73 , G06V10/44 , G06V20/52 , G06V20/64
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.
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公开(公告)号：US12219269B2
公开(公告)日：2025-02-04
申请号：US18591980
申请日：2024-02-29
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Xutao Ye
IPC: H04N23/80 , B25J9/16 , H04N23/698 , H04N23/81
Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.
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35.发明公开公开(公告)号：US20240189982A1
公开(公告)日：2024-06-13
申请号：US18532868
申请日：2023-12-07
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Puttichai Lertkultanon , Shintaro Matsuoka , Yoshiki Kanemoto , Jose Jeronimo Moreira Rodrigues , Lei Lei , Yixuan Zhang , Xutao Ye , Yufan Du , Mingjian Liang , Lingping Gao , Xinhao Wen , Xu Chen
CPC classification number: B25J9/0093 , B25J5/007 , B65G67/08 , B65G67/24
Abstract: A robotic system may include a chassis as well as a first leg and a second leg operatively coupled to the chassis. The first leg and the second leg may be configured to move in a vertical direction to move the chassis in a vertical translational degree of freedom. The robotic system may include 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. A first joint between the proximal conveyor and the first segment may be configured to provide a first rotational degree of freedom between the first segment and the proximal conveyor. A second joint between the gripper and the first segment may be configured to provide a second rotational degree of freedom between the first segment and the gripper.
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Patent Agency Ranking
36.发明授权公开(公告)号：US12002007B2
公开(公告)日：2024-06-04
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: G06Q10/08 , 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: 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.
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公开(公告)号：US11924559B2
公开(公告)日：2024-03-05
申请号：US17228783
申请日：2021-04-13
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Xutao Ye
IPC: H04N23/80 , B25J9/16 , H04N23/698 , H04N23/81
CPC classification number: H04N23/80 , H04N23/698 , H04N23/81 , B25J9/1612
Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.
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公开(公告)号：US11850760B2
公开(公告)日：2023-12-26
申请号：US17806379
申请日：2022-06-10
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues
IPC: G06T7/13 , G06T7/33 , G06T7/174 , G06T7/73 , G06T1/00 , B25J9/16 , B25J9/02 , B65G61/00 , G06V10/44 , G06V20/64 , B25J19/02 , G06F18/23
CPC classification number: B25J9/1697 , B25J19/023 , B65G61/00 , G06F18/23 , G06T1/0014 , G06T7/13 , G06T7/174 , G06T7/33 , G06T7/73 , G06V10/443 , G06V20/647 , B65G2201/025 , G06T2207/20212
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.
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39.发明授权公开(公告)号：US11636605B2
公开(公告)日：2023-04-25
申请号：US17344720
申请日：2021-06-10
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov , Xutao Ye
IPC: G06K9/00 , G06T7/13 , B25J9/16 , G06T7/73 , G06T7/50 , G06T7/62 , B65G61/00 , G05B19/4093 , G06Q10/087 , G06T19/20 , G06T7/11 , B65B43/46 , G06V10/25 , G06V20/64
Abstract: The present disclosure relates to methods and systems for generating a verified minimum viable range (MVR) of an object. An exposed outer corner and exposed edges of an object may be identified by processing one or more image data. An initial MVR may be generated by identifying opposing parallel edges opposing the exposed edges. The initial MVR may be adjusted, and the adjusted result may be tested to generate a verified MVR.
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公开(公告)号：US20230027984A1
公开(公告)日：2023-01-26
申请号：US17732302
申请日：2022-04-28
Applicant: MUJIN, Inc.
Inventor： Jose Jeronimo Moreira Rodrigues
Abstract: A system and method for estimating aspects of target objects and/or associated task implementations is disclosed.
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