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公开(公告)号：US20230052515A1
公开(公告)日：2023-02-16
申请号：US17884209
申请日：2022-08-09
Applicant: MUJIN, INC.
Inventor： Denys Kanunikov , Ziyan Zhou , Xutao YE , Rosen Nikolaev DIANKOV
Abstract: A computing system including a processing circuit in communication with a robot and a camera having a field of view. The processing circuit obtains image information based on the objects in the field of view and a loading environment, the loading environment which includes loading areas, an object queue, and a buffer zone. The computing system is configured to use the obtained image information in motion planning operations for the retrieval and placement of objects from the object queue into the loading environment. Pallets provided within the loading environment (i.e., within the loading areas) are dedicated to receiving objects having corresponding object type identifiers. The computer system further uses the image information to determine the fill status of pallets existing within the loading environment, and whether new pallets need to be brought into the loading environment and/or swapped out with existing pallets to account for future planning and placement operations.
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公开(公告)号：US20230008946A1
公开(公告)日：2023-01-12
申请号：US17953275
申请日：2022-09-26
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
IPC: G06T7/73 , B65G1/137 , B65B57/00 , B65G61/00 , B65G47/90 , B25J9/16 , G05B17/02 , G06V10/20 , B65G57/22
Abstract: A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.
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公开(公告)号：US11488323B2
公开(公告)日：2022-11-01
申请号：US16858536
申请日：2020-04-24
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
IPC: G06T7/73 , B65G57/22 , B65G61/00 , B25J9/16 , B65G1/137 , B65B57/00 , B65G47/90 , G05B17/02 , G06V10/20
Abstract: A method for operating a robotic system includes determining a discretized object model representative of a target object; determining a discretized platform model representative of a task location; determining height measures based on real-time sensor data representative of the task location; and dynamically deriving a placement location based on (1) overlapping the discretized object model and the discretized platform model for stacking objects at the task location and (2) calculating a placement score associated with the overlapping based on the height measures.
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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
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.
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公开(公告)号：US20220219916A1
公开(公告)日：2022-07-14
申请号：US17710750
申请日：2022-03-31
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
Abstract: A method for operating a robotic system includes determining package groupings for placing available packages on a platform; generating a two-dimensional (2D) placement plan based on discretized models representative of the available packages and the platform; generating a three-dimensional (3D) stacking plan based on the 2D placement plan; and implementing the 3D stacking plan for placing the available packages on the platform.
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Patent Agency Ranking
公开(公告)号：US11319166B2
公开(公告)日：2022-05-03
申请号：US15931530
申请日：2020-05-13
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
Abstract: A method for operating a robotic system includes determining package groupings for placing available packages on a platform; generating a two-dimensional (2D) placement plan based on discretized models representative of the available packages and the platform; generating a three-dimensional (3D) stacking plan based on the 2D placement plan; and implementing the 3D stacking plan for placing the available packages on the platform.
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公开(公告)号：US20210129334A1
公开(公告)日：2021-05-06
申请号：US17003774
申请日：2020-08-26
Applicant: MUJIN, Inc.
Inventor： Denys Kanunikov , Rosen Nikolaev Diankov
IPC: B25J9/16 , G06T7/00 , G06T7/70 , G05B19/4155 , B65G61/00
Abstract: A system and method for operating a robotic system to place objects into containers that have support walls is disclosed. The robotic system may detect an unexpected condition associated with a container during or before a real-time operation. Accordingly, the robotic system may dynamically adjust an existing packing plan based on detecting the unexpected condition.
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公开(公告)号：US20200377312A1
公开(公告)日：2020-12-03
申请号：US16874587
申请日：2020-05-14
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
Abstract: A robotic system for arranging packages at a destination according to a stacking sequence. The robotic system uses a storage area for temporarily storing packages that arrive out-of-sequence until they are next-in-sequence for placement at the destination. The robotic system processes an incoming package, determines if it is next-in-sequence for placement at the destination, and if it is, places the package at the destination. On the other hand, if it is not next-in-sequence for placement at the destination, it stores the package in the storage area. A package in the storage area is transferred to the destination when it is next-in-sequence for placement at the destination. By using the temporary storage for storing out of sequence packages, the robotic system eliminates the need for receiving the packages in a stacking sequence, which also eliminates the need for sequencing machines.
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公开(公告)号：US20200376670A1
公开(公告)日：2020-12-03
申请号：US16802451
申请日：2020-02-26
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
IPC: B25J9/16
Abstract: A method for operating a robotic system includes determining a discretized object model based on source sensor data; comparing the discretized object model to a packing plan or to master data; determining a discretized platform model based on destination sensor data; determining height measures based on the destination sensor data; comparing the discretized platform model and/or the height measures to an expected platform model and/or expected height measures; and determining one or more errors by (i) determining at least one source matching error by identifying one or more disparities between (a) the discretized object model and (b) the packing plan or the master data or (ii) determining at least one destination matching error by identifying one or more disparities between (a) the discretized platform model or the height measures and (b) the expected platform model or the expected height measures, respectively.
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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
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.
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