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1.发明申请公开(公告)号：US20220355474A1
公开(公告)日：2022-11-10
申请号：US17733024
申请日：2022-04-29
Applicant: MUJIN, INC.
Inventor： Xutao YE , Hamdi SAHLOUL , Puttichai LERTKULTANON , Rosen Nikolaev DIANKOV
IPC: B25J9/16
Abstract: A method and computing system for transferring objects between a source repository and a destination repository is provided. The computing system is configured to operate by a combination of pre-planned and image base trajectories to improve speed and reliability of object transfer. The computing system is configured to capture image information of repositories and use the captured information to alter or adjust pre-planned trajectories to improve performance.
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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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公开(公告)号：US20210012534A1
公开(公告)日：2021-01-14
申请号：US16682560
申请日：2019-11-13
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
IPC: G06T7/80 , G06T7/73 , H04N13/246
Abstract: A system and method for performing automatic camera calibration is presented. The system communicates with a first camera and a second camera, wherein a transparent platform is disposed between the two cameras. When a 3D calibration pattern is disposed on the platform, the system receives a first set of calibration images from the first camera, and a second set of calibration images from the second camera. The system determines, based on the first set of calibration images, a first set of coordinates for corners of the polyhedron. The system further determines, based on the second set of calibration images, a second set of coordinates for the corners. The system determines, based on the coordinates, a spatial relationship between the first camera and the second camera. The system further uses a description of the spatial relationship to generate a 3D model of an object other than the 3D calibration pattern.
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公开(公告)号：US20240165820A1
公开(公告)日：2024-05-23
申请号：US18424324
申请日：2024-01-26
Applicant: MUJIN, INC.
Inventor： Xutao YE , Puttichai LERTKULTANON , Rosen Nikolaev DIANKOV
IPC: B25J9/16 , B25J13/08 , B25J15/00 , B25J19/02 , B65G59/02 , G05B19/4155 , G06F18/2413 , G06T7/60 , G06T7/73 , G06V10/764 , G06V20/10 , H04N23/54 , H04N23/695
CPC classification number: B25J9/1697 , B25J9/1612 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1671 , B25J13/08 , B25J15/0061 , B25J19/023 , B65G59/02 , G05B19/4155 , G06F18/2413 , G06T7/60 , G06T7/74 , G06V10/764 , G06V20/10 , H04N23/54 , H04N23/695 , G05B2219/40269 , G06T2207/10028 , G06T2207/20164 , G06T2207/30244
Abstract: A method and computing system for object detection are presented. The computing system is configured to receive first image information representing at least a first portion of an object structure of an object in a camera's field of view, wherein the first image information is associate with a first camera pose; generate or update, based on the first image information, sensed structure information representing the object structure; identify an object corner associated with the object structure; cause the robot arm to move the camera to a second camera pose pointed at the object corner; receive second image information associated with the second camera pose; update the sensed structure information based on the second image information; determine, based on the updated sensed structure information, an object type associated with the object; determine one or more robot interaction locations based on the object type.
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公开(公告)号：US20230410319A1
公开(公告)日：2023-12-21
申请号：US18460106
申请日：2023-09-01
Applicant: MUJIN, INC.
CPC classification number: G06T7/12 , G06T7/64 , G06V20/64 , G06V10/44 , G06V10/245 , G06T2207/20164 , G06T2207/10028
Abstract: Systems and methods for processing spatial structure data are provided. The system accesses spatial structure data, which describes object structure, and which has depth information indicative of a plurality of layers for the object structure. The system further extracts, from the spatial structure data, a portion of the spatial structure data representative of one layer of the plurality of layers. The system identifies, from the portion of the spatial structure data, a plurality of vertices that describe a contour of the layer. Additionally, the system identifies convex corners of the layer based on the plurality of vertices and performs object recognition according to the convex corners.
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Patent Agency Ranking
公开(公告)号：US20220172399A1
公开(公告)日：2022-06-02
申请号：US17436727
申请日：2019-07-16
Applicant: Russell ISLAM , Mujin, Inc.
Inventor： Russell ISLAM , Rosen DIANKOV , Xutao YE
Abstract: A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to determine all corner locations of an imaginary cube that fits within a camera field of view, and determine a plurality of locations that are distributed on or throughout the imaginary cube. The control circuit is further configured to control a robot arm to move a calibration pattern to the plurality of locations, and to receive a plurality of calibration images corresponding to the plurality of locations, and to determine respective estimates of intrinsic camera parameters based on the plurality of calibration images, and to determine an estimate of a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit is further configured to control placement of the robot arm based on the estimate of the transformation function.
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公开(公告)号：US20210370518A1
公开(公告)日：2021-12-02
申请号：US17400361
申请日：2021-08-12
Applicant: MUJIN, INC.
Inventor： Xutao YE , Kazuto Murase
Abstract: A system and method for performing object detection are presented. The system receives spatial structure information associated with an object which is or has been in a camera field of view of a spatial structure sensing camera. The spatial structure information is generated by the spatial structure sensing camera, and includes depth information for an environment in the camera field of view. The system determines a container pose based on the spatial structure information, wherein the container pose is for describing at least one of an orientation for the container or a depth value for at least a portion of the container. The system further determines an object pose based on the container pose, wherein the object pose is for describing at least one of an orientation for the object or a depth value for at least a portion of the object.
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8.发明申请公开(公告)号：US20200306977A1
公开(公告)日：2020-10-01
申请号：US16864071
申请日：2020-04-30
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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9.发明申请公开(公告)号：US20200306975A1
公开(公告)日：2020-10-01
申请号：US16732832
申请日：2020-01-02
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
Abstract: 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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公开(公告)号：US20240253237A1
公开(公告)日：2024-08-01
申请号：US18635605
申请日：2024-04-15
Applicant: MUJIN, INC.
Inventor： Xutao YE , Kazuto MURASE
IPC: B25J9/16 , B25J13/08 , G06T7/50 , G06T7/73 , H04N23/695
CPC classification number: B25J9/1697 , B25J9/1666 , B25J9/1679 , B25J13/08 , G06T7/50 , G06T7/73 , H04N23/695 , G06T2207/10028 , G06T2207/30241
Abstract: A system and method for performing object detection are presented. The system receives spatial structure information associated with an object which is or has been in a camera field of view of a spatial structure sensing camera. The spatial structure information is generated by the spatial structure sensing camera, and includes depth information for an environment in the camera field of view. The system determines a container pose based on the spatial structure information, wherein the container pose is for describing at least one of an orientation for the container or a depth value for at least a portion of the container. The system further determines an object pose based on the container pose, wherein the object pose is for describing at least one of an orientation for the object or a depth value for at least a portion of the object.
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