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.

公开(公告)号：US11501445B2

公开(公告)日：2022-11-15

申请号：US16667857

申请日：2019-10-29

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/13 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06V10/25 ,  G06V20/64

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：US20220284216A1

公开(公告)日：2022-09-08

申请号：US17193253

申请日：2021-03-05

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev Diankov ,  Jinze Yu ,  Ahmed Abouelela ,  Yoshiki Kanemoto

IPC: G06K9/00 ,  G06K9/62 ,  G06K9/46 ,  G06K9/32 ,  B25J9/16 ,  B25J13/08

Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.

公开(公告)号：US20210304416A1

公开(公告)日：2021-09-30

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: G06T7/13 ,  B25J9/16 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06K9/00 ,  G06K9/32

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.

公开(公告)号：US20210260771A1

公开(公告)日：2021-08-26

申请号：US17313921

申请日：2021-05-06

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/13 ,  G06T7/50 ,  G06K9/62 ,  B25J13/08 ,  G06T7/00 ,  G06K9/46 ,  G06K9/00 ,  G06T7/66 ,  B25J9/00 ,  B25J15/06 ,  B65G47/91 ,  B65G61/00 ,  G06T1/00

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：US11062457B2

公开(公告)日：2021-07-13

申请号：US16667822

申请日：2019-10-29

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 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06K9/32

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.

公开(公告)号：US11034025B2

公开(公告)日：2021-06-15

申请号：US16736667

申请日：2020-01-07

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/13 ,  G06T7/50 ,  G06K9/62 ,  B25J13/08 ,  G06T7/00 ,  G06K9/46 ,  G06K9/00

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：US20200130961A1

公开(公告)日：2020-04-30

申请号：US16539790

申请日：2019-08-13

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B65G61/00 ,  B25J9/16 ,  G05B19/4093 ,  G06Q10/08

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location; obtaining additional data as the object is transferred to a task location, wherein the additional data includes information regarding one or more edges and/or one or more surfaces separate from portions of the object captured in the first data; and creating registration data representative of the object based on the additional data.

公开(公告)号：US10562188B1

公开(公告)日：2020-02-18

申请号：US16443743

申请日：2019-06-17

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/00 ,  B25J13/08 ,  G06T7/50 ,  G06T7/13 ,  G06K9/62

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.