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1.发明申请公开(公告)号：US20210268647A1
公开(公告)日：2021-09-02
申请号：US17326483
申请日：2021-05-21
Applicant: MUJIN, INC.
Inventor： Rosen DIANKOV
IPC: B25J9/16
Abstract: A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.
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公开(公告)号：US20200148489A1
公开(公告)日：2020-05-14
申请号：US16739184
申请日：2020-01-10
Applicant: MUJIN, Inc.
Inventor： Rosen DIANKOV , Xutao YE , Ziyan ZHOU
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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3.发明申请公开(公告)号：US20200030977A1
公开(公告)日：2020-01-30
申请号：US16592757
申请日：2019-10-03
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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4.发明申请公开(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.
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公开(公告)号：US20210209781A1
公开(公告)日：2021-07-08
申请号：US17188160
申请日：2021-03-01
Applicant: MUJIN, INC.
Inventor： Rosen DIANKOV , Xutao YE , Ziyan ZHOU
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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Patent Agency Ranking
6.发明申请公开(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
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.
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7.发明申请公开(公告)号：US20200171656A1
公开(公告)日：2020-06-04
申请号：US16782085
申请日：2020-02-05
Applicant: MUJIN, Inc.
Inventor： Rosen DIANKOV
IPC: B25J9/16
Abstract: A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.
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8.发明申请公开(公告)号：US20200039073A1
公开(公告)日：2020-02-06
申请号：US16592755
申请日：2019-10-03
Applicant: MUJIN, Inc.
Inventor： Rosen DIANKOV
Abstract: 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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公开(公告)号：US20250135649A1
公开(公告)日：2025-05-01
申请号：US19004606
申请日：2024-12-30
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
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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10.发明申请公开(公告)号：US20210114222A1
公开(公告)日：2021-04-22
申请号：US17135261
申请日：2020-12-28
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
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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