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公开(公告)号：US12283064B2
公开(公告)日：2025-04-22
申请号：US18526261
申请日：2023-12-01
Applicant: MUJIN, INC.
Inventor： Rosen Diankov , Xutao Ye , Ziyan Zhou
IPC: G06T7/55 , B25J9/00 , B25J9/16 , B65G59/02 , B65G67/02 , B65G67/04 , B65G67/24 , G06T5/50 , G06T7/50 , G06T7/593
Abstract: A control apparatus includes a first information acquiring section that acquires three-dimensional information of a first region of surfaces of a plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a first location; a second information acquiring section that acquires three-dimensional information of a second region of surfaces of the plurality of objects, the information being obtained by imaging or scanning the plurality of objects from a second location; and a combining section that generates information indicating three-dimensional shapes of at least a portion of the surfaces of the plurality of objects, based on the three-dimensional information of the first region acquired by the first information acquiring section and the three-dimensional information of the second region acquired by the second information acquiring section.
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公开(公告)号：US12263577B2
公开(公告)日：2025-04-01
申请号：US17573755
申请日：2022-01-12
Applicant: MUJIN, Inc.
Inventor： Yoshiki Kanemoto , Rosen Diankov
IPC: B25J15/06 , B25J9/00 , B25J9/16 , B25J13/08 , B65G47/91 , B65G61/00 , G06F18/22 , G06T1/00 , G06T7/00 , G06T7/13 , G06T7/50 , G06T7/66 , G06V10/44 , G06V20/10
Abstract: A control apparatus includes a force sensation information acquiring unit for acquiring force sensation information representing a magnitude of at least one of a force and a torque at a distal end of a manipulator while a target item is being transported; a mass information acquiring unit for acquiring mass information representing a mass of the item; a plan information acquiring unit for acquiring plan information representing content of a plan of a trajectory; a force sensation estimating unit for estimating a magnitude of at least one of a force and a torque to be detected at the distal end of the manipulator; and a first detecting unit for detecting an abnormality, based on the magnitude of at least one of the force and the torque represented by the force sensation information and the magnitude of at least one of the force and the torque estimated by the estimating unit.
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3.发明授权公开(公告)号：US11679503B2
公开(公告)日：2023-06-20
申请号：US17375084
申请日：2021-07-14
Applicant: MUJIN, INC.
Inventor： Rosen Diankov
CPC classification number: B25J9/1666 , B25J9/1697 , B65G47/905
Abstract: An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.
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公开(公告)号：US11638993B2
公开(公告)日：2023-05-02
申请号：US17157975
申请日：2021-01-25
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data; calculating a confidence measure associated with an accuracy of the initial pose; and determining that the confidence measure fails to satisfy a sufficiency condition; and deriving a motion plan accordingly for scanning an object identifier while transferring the target object from a start location to a task location.
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5.发明授权公开(公告)号：US11097421B2
公开(公告)日：2021-08-24
申请号：US16592757
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
Abstract: An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.
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Patent Agency Ranking
6.发明授权公开(公告)号：US11007643B2
公开(公告)日：2021-05-18
申请号：US16592755
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov
Abstract: A trajectory information generating unit is included, the trajectory information generating unit generating trajectory information that defines a trajectory for which a picking hand picks one of one or more works stored in one supply container included in one or more supply containers and arranges the work in one arrangement container included in one or more arrangement containers. After performing a process of generating trajectory information representing a first work included in the one or more works and before a movement of the first work is completed, the trajectory information generating unit may generate trajectory information representing a second work included in the one or more work and different from the first work by using an operation result in the process of generating the trajectory information regarding the first work.
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7.发明授权公开(公告)号：US10576630B1
公开(公告)日：2020-03-03
申请号：US16428333
申请日：2019-05-31
Applicant: Mujin, Inc.
Inventor： Rosen Diankov , Denys Kanunikov
Abstract: A system and method of operation of a robotic system including: receiving a sensor reading associated with a target object; generating a base plan for performing a task on the target object, wherein generating the base plan includes determining a grip point and one or more grip patterns associated with the grip point for gripping the target object based on a location of the grip point relative to a designated area, a task location, and another target object; implementing the base plan for performing the task by operating an actuation unit and one or more suction grippers according to a grip pattern rank, to generate an established grip on the target object, wherein the established grip is at a grip pattern location associated with the grip patterns; measuring the established grip; comparing the established grip to a force threshold; and re-gripping the target object based on the established grip falling below the force threshold.
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8.发明授权公开(公告)号：US10562186B1
公开(公告)日：2020-02-18
申请号：US16525004
申请日：2019-07-29
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for camera calibration verification is presented. The robot control system is configured to perform a first camera calibration, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second camera calibration if the threshold is exceeded.
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公开(公告)号：US12186918B2
公开(公告)日：2025-01-07
申请号：US18162455
申请日：2023-01-31
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.
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10.发明授权公开(公告)号：US11883964B2
公开(公告)日：2024-01-30
申请号：US18164295
申请日：2023-02-03
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
CPC classification number: B25J9/1692 , B25J9/1697 , G06T7/80 , G05B2219/39008 , G06T2207/30164
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
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