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公开(公告)号：US12064792B2
公开(公告)日：2024-08-20
申请号：US18250963
申请日：2021-10-26
申请人： MP ZENROBOTICS OY
发明人： Harri Holopainen , Tuomas Lukka
CPC分类号： B07C5/36 , B07C5/065 , B25J9/0093 , B25J9/026 , B25J9/1679 , B25J9/1694 , B25J15/0616 , B65G47/917 , G06N20/00 , B07C2501/0054 , B07C2501/0063 , B65G2203/0225 , B65G2203/042 , G05B2219/37094 , G05B2219/37134 , G05B2219/37431 , G05B2219/40078 , G05B2219/40586 , G05B2219/40607
摘要： It A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A controller (108) is in communication with a sensor (107) and is configured to receive detected object parameters, and determine a throw trajectory (109) of the gripped waste object (104) towards a target position (106) based on the detected object parameters of the gripped waste object (104). The controller (108) is configured to send control instructions to the gripper (103) and/or manipulator (101) so that the gripper (103) and/or manipulator (101) accelerates the gripped waste object (104) and releases the waste object (104) at a throw position with a throw velocity and throw angle towards the target position (106) so that the waste object (104) is thrown along the determined throw trajectory (109). A related method of controlling a waste robot is also disclosed.
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公开(公告)号：US11660762B2
公开(公告)日：2023-05-30
申请号：US17051422
申请日：2019-04-18
申请人： MP ZenRobotics Oy
发明人： Harri Holopainen , Tuomas Lukka
CPC分类号： B25J15/0616 , B25J9/0051 , B25J9/0093 , B65G47/917 , G05B19/4182 , B25J9/026 , B25J13/085 , B25J13/088
摘要： A waste sorting robot can include a manipulator comprising a suction gripper for interacting with one or more waste objects to be sorted within a working area, and wherein the manipulator is moveable within the working area. There is a controller configured to send control instructions to the manipulator. At least one pressure sensor is in fluid communication with the suction gripper and configured to generate a pressure signal in dependence on a fluid pressure in the suction gripper. The controller is configured to receive the pressure signal and to determine manipulator instructions in dependence on the pressure signal.
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公开(公告)号：US11682097B2
公开(公告)日：2023-06-20
申请号：US17086671
申请日：2020-11-02
申请人： MP ZenRobotics Oy
发明人： Tuomas Lukka , Janne Kujala
IPC分类号： G06T1/00 , B25J9/00 , B25J9/02 , B25J9/16 , G06F16/432 , G05B19/425 , G06K7/14 , B07C5/342 , B25J19/02 , G06N20/00
CPC分类号： G06T1/0014 , B07C5/3422 , B25J9/0093 , B25J9/026 , B25J9/163 , B25J19/023 , G05B19/425 , G06F16/434 , G06K7/1404 , G06K7/1447 , B25J9/1697 , G05B2219/39106 , G06N20/00
摘要： Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.
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公开(公告)号：US20240246118A1
公开(公告)日：2024-07-25
申请号：US17049565
申请日：2019-04-18
申请人： MP ZenRobotics OY
发明人： Timo Taalas , Aku Faarinen
CPC分类号： B07C5/36 , B25J9/0093 , B07C2501/0054 , B07C2501/0063
摘要： A waste sorting gantry robot comprises a gantry frame. The waste sorting gantry frame further comprises a manipulator for interacting with one or more waste objects to be sorted within a working area. The manipulator is moveably mounted on the gantry frame and the manipulator is moveable within the working area. A conveyor moves one or more waste objects to be sorted within the working area. The gantry frame comprises a chute for receiving sorted objects moved by the manipulator from the conveyor to a chute opening.
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公开(公告)号：US20240042624A1
公开(公告)日：2024-02-08
申请号：US18250965
申请日：2021-10-26
申请人： MP ZENROBOTICS OY
发明人： Harri Holopainen
CPC分类号： B25J15/0616 , B07C5/361 , B07C2501/0054 , B07C2501/0063
摘要： A method of detecting a fault in a waste sorting robot is provided. The waste sorting robot has a manipulator moveable within a working area and a suction gripper connected to the manipulator and arranged to selectively grip a waste object in the working area. The method comprises determining a gripping rate of suction gripper operations over a plurality of suction gripper operations in dependence of a signal received from a suction gripper sensor. The method further comprises determining one or more other operational parameters of the suction gripper over a plurality of suction gripper operations. The method also comprises detecting one or more faults with the suction gripper and/or the waste sorting robot based on the determined one or more other operational parameters and the determined gripping rate of suction gripper operations.
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公开(公告)号：US11851292B2
公开(公告)日：2023-12-26
申请号：US17049564
申请日：2019-04-18
申请人： MP ZenRobotics Oy
发明人： Tuomas Lukka , Maciej Borkowski
CPC分类号： B65G47/911 , B07C5/368 , B07C2501/0054 , B07C2501/0063 , B25J9/026 , B25J15/0616
摘要： A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.
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