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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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22.发明申请公开(公告)号：US20210339395A1
公开(公告)日：2021-11-04
申请号：US17375084
申请日：2021-07-14
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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公开(公告)号：US20200030978A1
公开(公告)日：2020-01-30
申请号：US16592760
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen DIANKOV
Abstract: A point cloud information acquiring unit for acquiring point cloud information of a region including at least one of the picking hand and the work at a time which is at least one of (i) when the picking hand picks the work at the first position, (ii) when the picking hand moves the work out of the first container, (iii) when the picking hand moves the work in the second container and (iv) when the picking hand arranges the work at the second position; and an abnormality detection unit for detecting an abnormality based on the point cloud information acquired by the point cloud information acquiring unit are included.
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