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公开(公告)号：US12065318B2
公开(公告)日：2024-08-20
申请号：US17710750
申请日：2022-03-31
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
CPC classification number: B65G47/905 , B65B57/00
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：US20210237274A1
公开(公告)日：2021-08-05
申请号：US17152723
申请日：2021-01-19
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：US20200377311A1
公开(公告)日：2020-12-03
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：US12208525B2
公开(公告)日：2025-01-28
申请号：US18299660
申请日：2023-04-12
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Huan Liu , Denys Kanunikov
Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
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公开(公告)号：US20240042608A1
公开(公告)日：2024-02-08
申请号：US18299660
申请日：2023-04-12
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Huan Liu , Denys Kanunikov
CPC classification number: B25J9/1664 , B65G61/00 , B25J9/1633 , B25J9/1674 , B25J9/1687 , B25J15/0004 , B25J15/0019 , G05B2219/39107 , G05B2219/45063
Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.
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Patent Agency Ranking
公开(公告)号：US11794346B2
公开(公告)日：2023-10-24
申请号：US17152723
申请日：2021-01-19
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
CPC classification number: B25J9/1687 , B25J9/1661 , B25J9/1664 , B25J9/1676 , B25J9/1697
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：US11772267B2
公开(公告)日：2023-10-03
申请号：US17806432
申请日：2022-06-10
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Yoshiki Kanemoto , Denys Kanunikov
CPC classification number: B25J9/1664 , B25J9/1661 , B25J9/1697 , G01S17/89 , G06T7/73
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：US11591168B2
公开(公告)日：2023-02-28
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：US11472640B2
公开(公告)日：2022-10-18
申请号：US16804853
申请日：2020-02-28
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Denys Kanunikov
Abstract: A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.
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公开(公告)号：US11413753B2
公开(公告)日：2022-08-16
申请号：US17110205
申请日：2020-12-02
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Yoshiki Kanemoto , Denys Kanunikov
Abstract: 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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