公开(公告)号：US11045948B2

公开(公告)日：2021-06-29

申请号：US16782085

申请日：2020-02-05

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov

IPC: B25J9/16

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：US11007649B2

公开(公告)日：2021-05-18

申请号：US16592756

申请日：2019-10-03

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov

IPC: B25J15/10 ,  B25J9/16 ,  B25J13/08

Abstract: A three-dimensional information acquiring unit for acquiring three-dimensional information of a target object, a gripping information acquiring unit for acquiring gripping information that defines a method of gripping the target object by using a picking hand, and an information management unit for storing, in a storage apparatus in association with each other, (i) three-dimensional information of the target object acquired by the three-dimensional information acquiring unit and (ii) gripping information acquired by the gripping information acquiring unit are included. The three-dimensional information of the target object may include at least one of origin position information and the coordinate axis information. A two-dimensional information acquiring unit for acquiring two-dimensional information of the target object may be further included.

公开(公告)号：US20200223634A1

公开(公告)日：2020-07-16

申请号：US16739971

申请日：2020-01-10

Applicant: Mujin, Inc.

Inventor： Isamu Arase ,  Satoshi Tendo ,  Rosen Diankov

IPC: B65G1/137

Abstract: A robot system controller and control method that implement sophisticated cooperation among units is provided. The controller may include: a data acquisition unit adapted to acquire first data including information about the handling object and the shelf before storing or retrieving the handling object in/from the shelf; a data storage unit; and a robot control unit adapted to select and transport the shelf to an access position before storing or retrieving the handling object in/from the shelf, create or acquire a control sequence for storing or retrieving the handling object in/from the shelf, instruct the transport robot to execute a task of transporting the shelf to the access position, and instruct the handling robot to execute a task of storing or retrieving the handling object in/from the shelf.

公开(公告)号：US10583560B1

公开(公告)日：2020-03-10

申请号：US16374617

申请日：2019-04-03

Applicant: Mujin, Inc.

Inventor： Jose Jeronimo Moreira Rodrigues ,  Xutao Ye ,  Jinze Yu ,  Rosen Diankov

IPC: B25J9/16 ,  B65G1/137 ,  G06K9/62 ,  G06K9/00

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 an 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.