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公开(公告)号：US20240095941A1
公开(公告)日：2024-03-21
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 , B65G67/04 , B65G67/24 , G06T5/50 , G06T7/50 , G06T7/593
CPC classification number: G06T7/55 , B25J9/0093 , B25J9/1697 , B65G59/02 , B65G67/04 , B65G67/24 , G06T5/50 , G06T7/50 , G06T7/593 , B65G2201/0235 , B65G2814/0311 , G06T2207/10028
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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12.发明公开公开(公告)号：US20240017417A1
公开(公告)日：2024-01-18
申请号：US18331650
申请日：2023-06-08
Applicant: MUJIN, INC.
Inventor： Xutao YE , Puttichai LERTKULTANON , Rosen Nikolaev DIANKOV
IPC: 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 , B25J9/1671 , B25J9/1612 , B25J9/1653 , B25J19/023 , G06T7/74 , B25J9/1669 , B25J9/1664 , B25J13/08 , B25J15/0061 , B65G59/02 , G05B19/4155 , G06T7/60 , G06F18/2413 , H04N23/54 , H04N23/695 , G06V10/764 , G06V20/10 , G06T2207/10028 , G06T2207/30244 , G05B2219/40269 , G06T2207/20164
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.
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13.发明公开公开(公告)号：US20230182309A1
公开(公告)日：2023-06-15
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 , G06T2207/30164 , G05B2219/39008
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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公开(公告)号：US20230182308A1
公开(公告)日：2023-06-15
申请号：US18162455
申请日：2023-01-31
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
CPC classification number: B25J9/1692 , G06T7/80 , B25J9/1664 , B25J9/1697
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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公开(公告)号：US20220284591A1
公开(公告)日：2022-09-08
申请号：US17678732
申请日：2022-02-23
Applicant: Mujin, Inc.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES , Xutao YE
Abstract: A system and method of detecting objects are provided. The method includes generating first edge information from first image data representing an object based on a first mode of image capture, generating second edge information from second image data representing the object based on a second mode of image capture, the second mode being different from the first mode, fusing the first edge information with the second edge information to generate fused edge information, generating an object detection hypothesis based on the fused edge information, and validating the object detection hypothesis based on the fused edge information, the first edge information, and/or the second edge information.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20210178583A1
公开(公告)日：2021-06-17
申请号：US17084272
申请日：2020-10-29
Applicant: MUJIN, INC.
Inventor： Xutao YE , Puttichai LERTKULTANON , Rosen Nikolaev DIANKOV
IPC: B25J9/16 , B25J13/08 , B25J15/00 , B65G59/02 , G05B19/4155 , H04N5/225 , H04N5/232 , G06T7/60 , G06K9/62
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.
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公开(公告)号：US20240276106A1
公开(公告)日：2024-08-15
申请号：US18591980
申请日：2024-02-29
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES , Xutao YE
IPC: H04N23/80 , B25J9/16 , H04N23/698 , H04N23/81
CPC classification number: H04N23/80 , H04N23/698 , H04N23/81 , B25J9/1612
Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.
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公开(公告)号：US20230052515A1
公开(公告)日：2023-02-16
申请号：US17884209
申请日：2022-08-09
Applicant: MUJIN, INC.
Inventor： Denys Kanunikov , Ziyan Zhou , Xutao YE , Rosen Nikolaev DIANKOV
Abstract: A computing system including a processing circuit in communication with a robot and a camera having a field of view. The processing circuit obtains image information based on the objects in the field of view and a loading environment, the loading environment which includes loading areas, an object queue, and a buffer zone. The computing system is configured to use the obtained image information in motion planning operations for the retrieval and placement of objects from the object queue into the loading environment. Pallets provided within the loading environment (i.e., within the loading areas) are dedicated to receiving objects having corresponding object type identifiers. The computer system further uses the image information to determine the fill status of pallets existing within the loading environment, and whether new pallets need to be brought into the loading environment and/or swapped out with existing pallets to account for future planning and placement operations.
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公开(公告)号：US20230025684A1
公开(公告)日：2023-01-26
申请号：US17956274
申请日：2022-09-29
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
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公开(公告)号：US20210327082A1
公开(公告)日：2021-10-21
申请号：US17360073
申请日：2021-06-28
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
Abstract: A method and system for processing camera images is presented. The system receives a first depth map generated based on information sensed by a first type of depth-sensing camera, and receives a second depth map generated based on information sensed by a second type of depth-sensing camera. The first depth map includes a first set of pixels that indicate a first set of respective depth values. The second depth map includes a second set of pixels that indicate a second set of respective depth values. The system identifies a third set of pixels of the first depth map that correspond to the second set of pixels of the second depth map, identifies one or more empty pixels from the third set of pixels, and updates the first depth map by assigning to each empty pixel a respective depth value based on the second depth map.
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