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1.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
申请人： MUJIN, INC.
发明人： Rosen Diankov
CPC分类号： B25J9/1666 , B25J9/1697 , B65G47/905
摘要： 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
申请人： MUJIN, Inc.
发明人： Rosen Diankov
摘要： 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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3.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
申请人： MUJIN, Inc.
发明人： Rosen Diankov
摘要： 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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4.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
申请人： MUJIN, Inc.
发明人： Rosen Diankov
摘要： 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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5.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
申请人： Mujin, Inc.
发明人： Rosen Diankov , Denys Kanunikov
摘要： 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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6.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
申请人： MUJIN, INC.
发明人： Russell Islam , Xutao Ye , Rosen Diankov
摘要： 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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7.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
申请人： MUJIN, INC.
发明人： Russell Islam , Xutao Ye , Rosen Diankov
CPC分类号： B25J9/1692 , B25J9/1697 , G06T7/80 , G05B2219/39008 , G06T2207/30164
摘要： 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：US11571816B2
公开(公告)日：2023-02-07
申请号：US16749365
申请日：2020-01-22
申请人： MUJIN, INC.
发明人： Russell Islam , Xutao Ye , Rosen Diankov
摘要： 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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9.发明授权公开(公告)号：US11288810B2
公开(公告)日：2022-03-29
申请号：US16888376
申请日：2020-05-29
申请人： MUJIN, Inc.
发明人： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC分类号： 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
摘要： 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.
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10.发明授权公开(公告)号：US11090808B2
公开(公告)日：2021-08-17
申请号：US16592742
申请日：2019-10-03
申请人： MUJIN, Inc.
发明人： Rosen Diankov
摘要： Automatic calculation of a trajectory by taking the interference with an obstacle into account may be performed by calculating trajectory information representing a trajectory on which (i) the picking hand picks, on the first position, the work with a posture associated with the first position included in the first combination; and (ii) the picking hand arranges, on the second position, the work with a posture associated with the second position included in the first combination, and determining whether an interference is present or absent on the trajectory represented by the trajectory information calculated in the calculating a trajectory.
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