公开(公告)号：US20220371200A1

公开(公告)日：2022-11-24

申请号：US17746545

申请日：2022-05-17

Applicant: MUJIN, INC.

Inventor： Jinze YU ,  Yoshiki KANEMOTO ,  Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV

IPC: B25J9/16

Abstract: Systems and methods for object detection and robotic control or pickup of the detected objects are provided. Systems and methods described herein provide for the determination and adjustment of minimum viable regions on a surface of an object for robotic pickup. Determination of a minimum viable region may increase the accuracy and efficiency of robotic object handling. The minimum viable region may be used to select grasping areas for a movement operation configured to provide supplemental image information for estimating dimensions of a target object.

公开(公告)号：US20220281114A1

公开(公告)日：2022-09-08

申请号：US17193268

申请日：2021-03-05

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

IPC: B25J9/16

Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

公开(公告)号：US20240190011A1

公开(公告)日：2024-06-13

申请号：US18586006

申请日：2024-02-23

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

公开(公告)号：US20220134572A1

公开(公告)日：2022-05-05

申请号：US17573755

申请日：2022-01-12

Applicant: MUJIN, Inc.

Inventor： Yoshiki KANEMOTO ,  Rosen DIANKOV

IPC: B25J9/16 ,  G06T7/13 ,  G06V10/44 ,  G06V20/10 ,  B65G61/00 ,  B65G47/91 ,  G06K9/62 ,  B25J9/00 ,  B25J15/06 ,  G06T1/00 ,  B25J13/08 ,  G06T7/50 ,  G06T7/66 ,  G06T7/00

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：US20210094187A1

公开(公告)日：2021-04-01

申请号：US16882518

申请日：2020-05-24

Applicant: MUJIN, Inc.

Inventor： Yoshiki KANEMOTO ,  Rosen DIANKOV

IPC: B25J9/16 ,  B25J9/00 ,  B65G47/91 ,  B25J15/06 ,  B65G61/00 ,  B25J13/08 ,  G06T1/00 ,  G06T7/66

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：US20240221350A1

公开(公告)日：2024-07-04

申请号：US18437946

申请日：2024-02-09

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

IPC: G06V10/75 ,  B25J9/16 ,  B25J13/08 ,  G06V10/25 ,  G06V10/44 ,  G06V20/10 ,  G06V20/64

CPC classification number: G06V10/751 ,  B25J9/1666 ,  B25J9/1697 ,  B25J13/08 ,  G06V10/25 ,  G06V10/443 ,  G06V20/10 ,  G06V20/647

Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.

公开(公告)号：US20220375097A1

公开(公告)日：2022-11-24

申请号：US17746524

申请日：2022-05-17

Applicant: MUJIN, INC.

Inventor： Jinze YU ,  Yoshiki KANEMOTO ,  Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV

IPC: G06T7/13 ,  G06T7/60 ,  G06T1/00

Abstract: A computing system including a processing circuit in communication with a camera having a field of view, The processing circuit obtains image information based on the objects in the field of view and defines a minimum viable region for a target open corner. Potential minimum viable regions are defined by identifying candidate edges of an object and determining potential intersection points based on the candidate edges. The minimum viable region may then be identified and validated from the potential minimum viable regions.