公开(公告)号：US12059810B2

公开(公告)日：2024-08-13

申请号：US17843666

申请日：2022-06-17

Applicant: Berkshire Grey Operating Company, Inc.

Inventor： Thomas Wagner ,  Kevin Ahearn ,  Benjamin Cohen ,  Michael Dawson-Haggerty ,  Christopher Geyer ,  Thomas Koletschka ,  Kyle Maroney ,  Matthew T. Mason ,  Gene Temple Price ,  Joseph Romano ,  Daniel Smith ,  Siddhartha Srinivasa ,  Prasanna Velagapudi ,  Thomas Allen

IPC: B25J9/16 ,  B07C3/18 ,  B07C5/36 ,  B25J9/00 ,  B25J19/04 ,  G05B19/418

CPC classification number: B25J9/1669 ,  B07C3/18 ,  B07C5/36 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1687 ,  B25J9/1697 ,  B25J19/04 ,  G05B19/4183 ,  G05B2219/32037 ,  G05B2219/39106 ,  G05B2219/39295 ,  G05B2219/39476 ,  G05B2219/39484 ,  G05B2219/39504 ,  G05B2219/39548 ,  G05B2219/40053 ,  G05B2219/40078 ,  G05B2219/40116 ,  G05B2219/40538 ,  G05B2219/45045 ,  Y02P90/02

Abstract: A sortation system is disclosed that includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.

公开(公告)号：US20240181634A1

公开(公告)日：2024-06-06

申请号：US18439713

申请日：2024-02-12

Applicant: MUJIN, Inc.

Inventor： Hironori Mizoguchi ,  Rosen Nikolaev Diankov

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/06 ,  B25J19/02 ,  B25J19/04

CPC classification number: B25J9/1612 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1697 ,  B25J13/08 ,  B25J15/0616 ,  B25J19/022 ,  B25J19/023 ,  B25J19/04 ,  G05B2219/39553 ,  G05B2219/39558 ,  G05B2219/40006

Abstract: A method for operating a transport robot includes receiving image data representative of a group of objects. One or more target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified one or more target objects. The transport robot is command to cause the selected addressable vacuum regions to hold and transport the identified one or more target objects. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. A vision sensor device can capture the image data, which is representative of the target objects adjacent to or held by the multi-gripper assembly.

公开(公告)号：US11911894B2

公开(公告)日：2024-02-27

申请号：US16868695

申请日：2020-05-07

Applicant: INTELLIGRATED HEADQUARTERS, LLC

Inventor： John Simons ,  Matthew R. Wicks ,  Grant R. Jeremiah ,  Benjamin Baer

IPC: B25J15/06 ,  B25J9/14 ,  B25J19/04 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J15/0658 ,  B25J9/144 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/08 ,  B25J15/0616 ,  B25J15/0675 ,  B25J19/04

Abstract: Various example embodiments described herein relates, to an item manipulation system that can include a control system and an end effector. The end effector can include a tube defining a channel between a first end and a second end. The tube can include, a flexible suction cup that can be disposed within the channel of the tube. In some examples, the flexible suction cup can engage a surface of the item based on suction force generated through the flexible suction cup. The end effector also includes a linear actuator that can be mechanically coupled to the flexible suction cup. The end effector can be configured to: extend, the flexible suction cup towards the second end of the channel to position at least a portion of the flexible suction cup outside the tube and retract, the flexible suction cup within the channel to position the flexible suction cup within the tube.

公开(公告)号：US20240001560A1

公开(公告)日：2024-01-04

申请号：US18467517

申请日：2023-09-14

Applicant: Auris Health, Inc.

Inventor： Benjamin Robert FREDRICKSON ,  Travis C. COVINGTON ,  Jason Tomas WILSON

IPC: B25J9/16 ,  B25J19/02 ,  B25J9/00 ,  B25J19/04

CPC classification number: B25J9/1697 ,  B25J9/1682 ,  B25J19/023 ,  B25J9/0084 ,  B25J19/026 ,  B25J19/04 ,  B25J19/027

Abstract: Certain aspects relate to systems and techniques for preparing a robotic system for surgery. In one aspect, the method includes a robotic arm, a sensor configured to generate information indicative of a location of the robotic arm, a processor, and at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions. The instructions are configured to cause the processor to receive the information from the sensor, determine that the robotic arm is located at a first position in which a first axis associated with the robotic arm is not in alignment with a second axis associated with a port installed in a patient, and provide a command to move the robotic arm to a second position in which the first axis associated with the robotic arm is in alignment with the second axis.

公开(公告)号：US11850761B2

公开(公告)日：2023-12-26

申请号：US18157631

申请日：2023-01-20

Applicant: Intelligrated Headquarters, LLC

Inventor： Justin Peterson ,  Thomas Gallagher ,  Gary Giuliano ,  Justin Zimmer ,  Stephen Dryer ,  Matt Wicks

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/04 ,  B07C5/36

CPC classification number: B25J9/1697 ,  B07C5/362 ,  B25J13/08 ,  B25J19/04 ,  B07C2501/0063

Abstract: Methods, apparatus, computing devices, computing entities, and/or the like associated with a robotic sortation system are provided. An example method may include receiving imaging data associated with a first item at a first sorting location of a material handling system, determining a sorting destination for the first item based at least in part on the imaging data, determining a plurality of first-tier robotic devices and a plurality of second-tier robotic devices based at least in part on the first sorting location and the sorting destination, and generating a first sortation scheme for the first item.

公开(公告)号：US11794332B2

公开(公告)日：2023-10-24

申请号：US16856409

申请日：2020-04-23

Applicant: Nimble Robotics, Inc.

Inventor： Simon Kalouche

IPC: B65G1/06 ,  B65G1/137 ,  B66F9/06 ,  G05B19/418 ,  G05D1/02 ,  G06V20/64 ,  B25J5/00 ,  B25J9/14 ,  B25J9/16 ,  B25J13/08 ,  B25J19/04 ,  B25J15/06 ,  B25J15/04 ,  B25J15/02 ,  B25J5/02 ,  B25J19/00 ,  B65G47/91 ,  B25J13/00 ,  B25J15/00 ,  B25J19/02 ,  B65G1/04 ,  B25J9/04 ,  B25J17/02 ,  B60M1/30

CPC classification number: B25J5/007 ,  B25J5/02 ,  B25J9/042 ,  B25J9/14 ,  B25J9/161 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1612 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/00 ,  B25J13/006 ,  B25J13/08 ,  B25J13/089 ,  B25J15/0061 ,  B25J15/02 ,  B25J15/0441 ,  B25J15/0616 ,  B25J15/0625 ,  B25J17/02 ,  B25J19/005 ,  B25J19/0025 ,  B25J19/02 ,  B25J19/021 ,  B25J19/04 ,  B60M1/30 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G1/1373 ,  B65G1/1375 ,  B65G47/917 ,  B65G47/918 ,  B65G2203/041 ,  B65G2203/042 ,  B65G2209/04

Abstract: A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein.

公开(公告)号：US11766789B2

公开(公告)日：2023-09-26

申请号：US17554225

申请日：2021-12-17

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takemitsu Mori

IPC: B25J9/16 ,  B25J19/02 ,  B25J19/04

CPC classification number: B25J19/023 ,  B25J9/1697 ,  B25J19/04

Abstract: To be able to favorably shoot an object-to-be-shot displayed on a display unit of a remote control-type robot. A shooting system includes a remote control-type robot including a display unit for displaying an image of an object-to-be-shot and that is operated remotely, first image capturing device for shooting the remote control-type robot, and image control device for performing at least one of: replacing the image of the object-to-be-shot displayed on the display unit shot by the first image capturing device; adjusting the image of the object-to-be shot displayed on the display unit; changing the position of the display unit; and changing the posture of the display unit so that the image of the object-to-be-shot displayed on the display unit is made clearer when the display unit of the remote control-type robot falls within a shooting range of the first image capturing device.

公开(公告)号：US11701777B2

公开(公告)日：2023-07-18

申请号：US16839807

申请日：2020-04-03

Applicant: FANUC CORPORATION

Inventor： Xinghao Zhu ,  Te Tang ,  Tetsuaki Kato

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/04

CPC classification number: B25J9/1666 ,  B25J9/1612 ,  B25J9/1679 ,  B25J9/1697 ,  B25J13/089 ,  B25J19/04

Abstract: An adaptive robot grasp planning technique for bin picking. Workpieces in a bin having random positions and poses are to be grasped by a robot and placed in a goal position and pose. The workpiece shape is analyzed to identify a plurality of robust grasp options, each grasp option having a position and orientation. The workpiece shape is also analyzed to determine a plurality of stable intermediate poses. Each individual workpiece in the bin is evaluated to identity a set of feasible grasps, and the workpiece is moved to the goal pose if such direct movement is possible. If direct movement is not possible, a search problem is formulated, where each stable intermediate pose is a node. The search problem is solved by evaluating the feasibility and optimality of each link between nodes. Feasibility of each link is evaluated in terms of collision avoidance constraints and robot joint motion constraints.

公开(公告)号：US11654574B2

公开(公告)日：2023-05-23

申请号：US16921095

申请日：2020-07-06

Applicant: Qfeeltech (Beijing) Co., Ltd.

Inventor： Yiming Zhang ,  Zhen Chen

IPC: B25J11/00 ,  B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J19/04 ,  G05D1/02

CPC classification number: B25J11/0085 ,  B25J9/1676 ,  B25J13/089 ,  B25J19/023 ,  B25J19/04 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0215

Abstract: A cleaning robot is provided. The cleaning robot includes a motion device configured to move the cleaning robot in an environment, and an exterior housing. The cleaning robot also includes a motion sensor configured to obtain parameters relating to a motion of the cleaning robot, and a storage device configured to store data including at least one of the one or more images or the one or more motion parameters. The cleaning robot also includes a camera configured to capture one or more images of the environment. The camera is disposed internal to a slant surface located at a front end of the exterior housing and is pivotable relative to the slant surface. The slant surface inclines upwardly with respect to a forward moving direction. The camera and the slant surface face substantially a same direction. A direction of the camera and the forward moving direction form an acute angle.

公开(公告)号：US20180257240A1

公开(公告)日：2018-09-13

申请号：US15755179

申请日：2016-05-27

Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA

Inventor： Yasuhiko HASHIMOTO ,  Masayuki KAMON

IPC: B25J13/08 ,  G06T7/70 ,  G06T7/62 ,  B25J9/16 ,  B25J19/04

CPC classification number: A61B34/37 ,  A61B34/32 ,  B23P19/04 ,  B23P21/00 ,  B23P21/002 ,  B23Q15/12 ,  B25J3/00 ,  B25J3/04 ,  B25J9/0081 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/0093 ,  B25J9/1602 ,  B25J9/161 ,  B25J9/1612 ,  B25J9/1628 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1646 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1674 ,  B25J9/1682 ,  B25J9/1689 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/00 ,  B25J13/003 ,  B25J13/006 ,  B25J13/02 ,  B25J13/025 ,  B25J13/06 ,  B25J13/065 ,  B25J13/08 ,  B25J13/084 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088 ,  B25J18/00 ,  B25J19/023 ,  B25J19/028 ,  B25J19/04 ,  G05B19/4182 ,  G05B2219/39004 ,  G05B2219/39102 ,  G05B2219/39439 ,  G05B2219/40022 ,  G05B2219/40136 ,  G05B2219/40142 ,  G05B2219/40146 ,  G05B2219/40161 ,  G05B2219/40162 ,  G05B2219/40163 ,  G05B2219/40169 ,  G05B2219/40183 ,  G05B2219/40195 ,  G06F3/017 ,  G06T7/62 ,  G06T7/70 ,  H04N5/23219 ,  H04N7/181 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/10 ,  Y10S901/27 ,  Y10S901/41 ,  Y10S901/46 ,  Y10S901/47

Abstract: A remote-control manipulator system includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm configured to perform a series of works comprised of a plurality of processes, a camera configured to image operation of the slave arm, a display device configured to display an image captured by the camera, a storage device configured to store information related to environment in a workspace as an environment model, and a control device. The control device is configured, while operating the slave arm manually or hybridly, to acquire circumference information that is information related to a circumference area of an area imaged by the camera based on the environment model stored in the storage device, and display on the display device so that the image captured by the camera and the circumference information are interlocked.