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.

公开(公告)号：US12226907B2

公开(公告)日：2025-02-18

申请号：US17573447

申请日：2022-01-11

Applicant: MUJIN, Inc.

Inventor： Hironori Mizoguchi ,  Yoshiki Kanemoto

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/06

Abstract: End effectors for use with a robotic object-gripping system, and related systems and methods, are disclosed herein. In some embodiments, the end effector includes a first mounting structure, a force sensor coupled to the first mounting structure, a second mounting structure coupled to the force sensor, and a gripper assembly coupled to the second mounting structure. The force sensor is beneath the longitudinal plane and is configured to measure forces along a vertical axis. The end effector also includes a first bracket coupled to the first mounting structure and a second bracket coupled to the second mounting structure. The first and second brackets are configured to connect to the connection tubes to isolate the connection tubes, and any forces therein, to a longitudinal direction between the first bracket and the second bracket, thereby reducing the noise on the force sensor from the connection tubes during operation.

公开(公告)号：US20240228192A9

公开(公告)日：2024-07-11

申请号：US18492444

申请日：2023-10-23

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Yuta Kojio

IPC: B65G47/90

CPC classification number: B65G47/905

Abstract: Robotic systems with dynamic motion planning for transferring unregistered objects (and associated systems, devices, and methods) are disclosed herein. In one embodiment, a method for operating a robotic system includes (i) receiving sensor data representing a distance between a sensor of the robotic system and a target object engaged by an end-effector of the robotic system, and (ii) determining a height of the target object based at least in part on the sensor data. The method can further comprise updating, based at least in part on the height of the target object, a motion plan for placing the target object at a destination location. The updated motion plan can include commands, settings, or a combination thereof for operating a robotic arm and the end-effector to (i) approach the destination location and (ii) disengage the target object for placing the target object at the destination location.

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

IPC: B25J9/00 ,  B25J9/16 ,  G01S17/89 ,  G06T7/73

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.

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

IPC: B25J9/00 ,  B25J9/16 ,  G01S17/89 ,  G06T7/73

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.

公开(公告)号：US10703584B2

公开(公告)日：2020-07-07

申请号：US16539790

申请日：2019-08-13

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B65G61/00 ,  B25J9/16 ,  G06Q10/08 ,  G05B19/4093

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location; obtaining additional data as the object is transferred to a task location, wherein the additional data includes information regarding one or more edges and/or one or more surfaces separate from portions of the object captured in the first data; and creating registration data representative of the object based on the additional data.

公开(公告)号：US12202145B2

公开(公告)日：2025-01-21

申请号：US17841545

申请日：2022-06-15

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Rosen Nikolaev Diankov

IPC: B25J9/16 ,  B65G47/90

Abstract: A system and method for determining a misdetection of an object and subsequent response is disclosed. A robotic system may use a motion plan, which is derived based on an initial detection result of a package, to transfer the package from a start location to a task location. During implementation of the motion plan, the robotic system may obtain additional sensor data, which can be used to deviate from the initial motion plan and implement a replacement motion plan to transfer the package to the task location.

公开(公告)号：US20240132303A1

公开(公告)日：2024-04-25

申请号：US18492444

申请日：2023-10-22

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Yuta Kojio

IPC: B65G47/90

CPC classification number: B65G47/905

Abstract: Robotic systems with dynamic motion planning for transferring unregistered objects (and associated systems, devices, and methods) are disclosed herein. In one embodiment, a method for operating a robotic system includes (i) receiving sensor data representing a distance between a sensor of the robotic system and a target object engaged by an end-effector of the robotic system, and (ii) determining a height of the target object based at least in part on the sensor data. The method can further comprise updating, based at least in part on the height of the target object, a motion plan for placing the target object at a destination location. The updated motion plan can include commands, settings, or a combination thereof for operating a robotic arm and the end-effector to (i) approach the destination location and (ii) disengage the target object for placing the target object at the destination location.

公开(公告)号：US20230025647A1

公开(公告)日：2023-01-26

申请号：US17841545

申请日：2022-06-15

Applicant: MUJIN, Inc.

Inventor： Yoshiki Kanemoto ,  Rosen Nikolaev Diankov

IPC: B25J9/16

Abstract: A system and method for determining a misdetection of an object and subsequent response is disclosed. A robotic system may use a motion plan, which is derived based on an initial detection result of a package, to transfer the package from a start location to a task location. During implementation of the motion plan, the robotic system may obtain additional sensor data, which can be used to deviate from the initial motion plan and implement a replacement motion plan to transfer the package to the task location.

公开(公告)号：US11288810B2

公开(公告)日：2022-03-29

申请号：US16888376

申请日：2020-05-29

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: G06T7/13 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  G06T19/20 ,  G06T7/11 ,  G06K9/00 ,  G06K9/32 ,  B25J9/16 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  B65B43/46

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.