公开(公告)号：US12138815B2

公开(公告)日：2024-11-12

申请号：US18331650

申请日：2023-06-08

Applicant: MUJIN, INC.

Inventor： Xutao Ye ,  Puttichai Lertkultanon ,  Rosen Nikolaev Diankov

IPC: G05B15/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B25J19/02 ,  B65G59/02 ,  G05B19/00 ,  G05B19/4155 ,  G06F18/2413 ,  G06T7/60 ,  G06T7/73 ,  G06V10/764 ,  G06V20/10 ,  H04N23/54 ,  H04N23/695

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

公开(公告)号：US20240189982A1

公开(公告)日：2024-06-13

申请号：US18532868

申请日：2023-12-07

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Puttichai Lertkultanon ,  Shintaro Matsuoka ,  Yoshiki Kanemoto ,  Jose Jeronimo Moreira Rodrigues ,  Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yufan Du ,  Mingjian Liang ,  Lingping Gao ,  Xinhao Wen ,  Xu Chen

IPC: B25J9/00 ,  B25J5/00 ,  B65G67/08 ,  B65G67/24

CPC classification number: B25J9/0093 ,  B25J5/007 ,  B65G67/08 ,  B65G67/24

Abstract: A robotic system may include a chassis as well as a first leg and a second leg operatively coupled to the chassis. The first leg and the second leg may be configured to move in a vertical direction to move the chassis in a vertical translational degree of freedom. The robotic system may include a proximal conveyor, a first segment including a first segment conveyor extending along a length of the first segment, and a gripper including a distal conveyor extending along a length of the gripper. A first joint between the proximal conveyor and the first segment may be configured to provide a first rotational degree of freedom between the first segment and the proximal conveyor. A second joint between the gripper and the first segment may be configured to provide a second rotational degree of freedom between the first segment and the gripper.

公开(公告)号：US12269164B2

公开(公告)日：2025-04-08

申请号：US17733024

申请日：2022-04-29

Applicant: MUJIN, INC.

Inventor： Xutao Ye ,  Hamdi Sahloul ,  Puttichai Lertkultanon ,  Rosen Nikolaev Diankov

IPC: B25J9/16

Abstract: A method and computing system for transferring objects between a source repository and a destination repository is provided. The computing system is configured to operate by a combination of pre-planned and image base trajectories to improve speed and reliability of object transfer. The computing system is configured to capture image information of repositories and use the captured information to alter or adjust pre-planned trajectories to improve performance.

公开(公告)号：US11883966B2

公开(公告)日：2024-01-30

申请号：US17116436

申请日：2020-12-09

Applicant: Mujin, Inc.

Inventor： Xutao Ye ,  Puttichai Lertkultanon ,  Rosen Nikolaev Diankov

IPC: B25J19/02 ,  B25J9/16 ,  G06T7/73 ,  B25J13/08 ,  B25J15/00 ,  B65G59/02 ,  G05B19/4155 ,  G06T7/60 ,  G06F18/2413 ,  H04N23/54 ,  H04N23/695 ,  G06V10/764 ,  G06V20/10

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1671 ,  B25J13/08 ,  B25J15/0061 ,  B25J19/023 ,  B65G59/02 ,  G05B19/4155 ,  G06F18/2413 ,  G06T7/60 ,  G06T7/74 ,  G06V10/764 ,  G06V20/10 ,  H04N23/54 ,  H04N23/695 ,  G05B2219/40269 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244

Abstract: A method and computing system for performing object detection are presented. The computing system may be configured to: receive first image information that represents at least a first portion of an object structure of an object in a camera's field of view, wherein the first image information is associate with a first camera pose; generate or update, based on the first image information, sensed structure information representing the object structure; identify an object corner associated with the object structure; cause the robot arm to move the camera to a second camera pose in which the camera is pointed at the object corner; receive second image information associated with the second camera pose; update the sensed structure information based on the second image information; determine, based on the updated sensed structure information, an object type associated with the object; determine one or more robot interaction locations based on the object type.

公开(公告)号：US11717971B2

公开(公告)日：2023-08-08

申请号：US17385349

申请日：2021-07-26

Applicant: MUJIN, INC.

Inventor： Xutao Ye ,  Puttichai Lertkultanon ,  Rosen Nikolaev Diankov

IPC: G06F7/00 ,  B25J9/16 ,  B25J19/02 ,  G06T7/73 ,  B25J13/08 ,  B25J15/00 ,  B65G59/02 ,  G05B19/4155 ,  G06T7/60 ,  G06F18/2413 ,  H04N23/54 ,  H04N23/695 ,  G06V10/764 ,  G06V20/10

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1671 ,  B25J13/08 ,  B25J15/0061 ,  B25J19/023 ,  B65G59/02 ,  G05B19/4155 ,  G06F18/2413 ,  G06T7/60 ,  G06T7/74 ,  G06V10/764 ,  G06V20/10 ,  H04N23/54 ,  H04N23/695 ,  G05B2219/40269 ,  G06T2207/10028 ,  G06T2207/20164 ,  G06T2207/30244

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

公开(公告)号：US11103998B2

公开(公告)日：2021-08-31

申请号：US17084272

申请日：2020-10-29

Applicant: MUJIN, INC.

Inventor： Xutao Ye ,  Puttichai Lertkultanon ,  Rosen Nikolaev Diankov

IPC: G06F7/00 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B65G59/02 ,  G05B19/4155 ,  H04N5/232 ,  G06T7/60 ,  G06K9/62 ,  H04N5/225

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

公开(公告)号：US20240316779A1

公开(公告)日：2024-09-26

申请号：US18607407

申请日：2024-03-15

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Shintaro Matsuoka ,  Jose Jeronimo Moreira Rodrigues ,  Kentaro Wada ,  Rosen Nikolaev Diankov ,  Puttichai Lertkultanon ,  Lei Lei ,  Yixuan Zhang ,  Xutao Ye ,  Yufan Du ,  Mingjian Liang ,  Lingping Gao ,  Xinhao Wen ,  Xu Chen

IPC: B25J9/16 ,  B25J9/00 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

CPC classification number: B25J9/1687 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1697 ,  B65G67/08 ,  B65G67/20 ,  B65G67/24

Abstract: A robotic system may include a chassis operatively coupled to a proximal conveyor, a first segment including a first segment conveyor extending along a length of the first segment, and a gripper including a distal conveyor extending along a length of the gripper. The robotic system may further include a controller configured to operate the chassis, the conveyors, the segments, the gripper, or a combination thereof to remove and transfer objects away from a cargo loading structure, such as a cargo container.

公开(公告)号：US20230070495A1

公开(公告)日：2023-03-09

申请号：US17902694

申请日：2022-09-02

Applicant: MUJIN, Inc.

Inventor： Puttichai Lertkultanon ,  Hironori Mizoguchi ,  Yoshiki Kanemoto ,  Rosen Nikolaev Diankov

IPC: B25J9/16

Abstract: A system and method for operating a transfer robot to grasp and transfer objects is disclosed. The transport robot includes a robotic gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum to grasp a target object. The gripper assembly can be configured and/or operated according to one or more physical characteristics of targeted objects and/or corresponding scenarios.

公开(公告)号：US11370121B2

公开(公告)日：2022-06-28

申请号：US16667170

申请日：2019-10-29

Applicant: MUJIN, INC.

Inventor： Russell Islam ,  Puttichai Lertkultanon

IPC: B25J9/16

Abstract: A method and system for determining poses for camera calibration is presented. The system determines a range of pattern orientations for performing the camera calibration, and determines a surface region on a surface of an imaginary sphere, which represents possible pattern orientations for the calibration pattern. The system determines a plurality of poses for the calibration pattern to adopt. The plurality of poses may be defined by respective combinations of a plurality of respective locations within the camera field of view and a plurality of respective sets of pose angle values. Each set of pose angle values of the plurality of respective sets may be based on a respective surface point selected from within the surface region on the surface of the imaginary sphere. The system outputs a plurality of robot movement commands based on the plurality of poses that are determined.