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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
申请人： MUJIN, Inc.
CPC分类号： B25J9/1664 , B65G61/00 , B25J9/1633 , B25J9/1674 , B25J9/1687 , B25J15/0004 , B25J15/0019 , G05B2219/39107 , G05B2219/45063
摘要： 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：US11883966B2
公开(公告)日：2024-01-30
申请号：US17116436
申请日：2020-12-09
申请人： Mujin, Inc.
IPC分类号： 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分类号： 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
摘要： 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.
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3.发明授权公开(公告)号：US11797926B2
公开(公告)日：2023-10-24
申请号：US17512559
申请日：2021-10-27
申请人： MUJIN, Inc.
发明人： Rosen Nikolaev Diankov , Russell Islam , Xutao Ye
IPC分类号： G06T7/13 , G06Q10/087 , B25J9/16 , G06T7/73 , G06T7/50 , G06T7/62 , B65G61/00 , G05B19/4093 , G06T19/20 , G06T7/11 , B65B43/46 , G06V10/25 , G06V20/64 , G06V10/20 , G06V10/44
CPC分类号： G06Q10/087 , B25J9/1676 , B25J9/1687 , B25J9/1697 , B65B43/46 , B65G61/00 , G05B19/40935 , G06T7/11 , G06T7/13 , G06T7/50 , G06T7/62 , G06T7/73 , G06T19/20 , G06V10/25 , G06V10/255 , G06V20/64 , G05B2219/40006 , G05B2219/40607 , G06T2200/04 , G06T2207/10028 , G06T2207/20164 , G06T2207/30108 , G06V10/44
摘要： A system and method for operating a robotic system to register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object to derive an initial minimum viable region (MVR). The robotic system may analyze second image data representative of the unrecognized object to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.
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公开(公告)号：US11794346B2
公开(公告)日：2023-10-24
申请号：US17152723
申请日：2021-01-19
申请人： MUJIN, Inc.
CPC分类号： B25J9/1687 , B25J9/1661 , B25J9/1664 , B25J9/1676 , B25J9/1697
摘要： 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
申请人： MUJIN, Inc.
CPC分类号： B25J9/1664 , B25J9/1661 , B25J9/1697 , G01S17/89 , G06T7/73
摘要： 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：US11717971B2
公开(公告)日：2023-08-08
申请号：US17385349
申请日：2021-07-26
申请人： MUJIN, INC.
IPC分类号： 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分类号： 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
摘要： 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.
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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
申请人： MUJIN, Inc.
摘要： 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
申请人： MUJIN, Inc.
摘要： 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
申请人： MUJIN, Inc.
摘要： 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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10.发明授权公开(公告)号：US11103998B2
公开(公告)日：2021-08-31
申请号：US17084272
申请日：2020-10-29
申请人： MUJIN, INC.
IPC分类号： G06F7/00 , B25J9/16 , B25J13/08 , B25J15/00 , B65G59/02 , G05B19/4155 , H04N5/232 , G06T7/60 , G06K9/62 , H04N5/225
摘要： 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.
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