CN111483750A - 机器人系统的控制方法以及控制装置 - Google Patents

机器人系统的控制方法以及控制装置 Download PDF

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Publication number
CN111483750A
CN111483750A CN202010066275.0A CN202010066275A CN111483750A CN 111483750 A CN111483750 A CN 111483750A CN 202010066275 A CN202010066275 A CN 202010066275A CN 111483750 A CN111483750 A CN 111483750A
Authority
CN
China
Prior art keywords
operation object
robot system
scanning
end effector
control sequence
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010066275.0A
Other languages
English (en)
Chinese (zh)
Inventor
鲁仙·出杏光
良树·金本
德尼斯·卡努尼考夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mujin Inc
Original Assignee
Mujin Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/258,120 external-priority patent/US10456915B1/en
Application filed by Mujin Inc filed Critical Mujin Inc
Priority to CN202010277929.4A priority Critical patent/CN111470244B/zh
Publication of CN111483750A publication Critical patent/CN111483750A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
CN202010066275.0A 2019-01-25 2020-01-20 机器人系统的控制方法以及控制装置 Pending CN111483750A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010277929.4A CN111470244B (zh) 2019-01-25 2020-01-20 机器人系统的控制方法以及控制装置

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US16/258,120 US10456915B1 (en) 2019-01-25 2019-01-25 Robotic system with enhanced scanning mechanism
US16/258,120 2019-01-25
JP2019-118678 2019-06-26
JP2019118678 2019-06-26
JP2019-213029 2019-11-26
JP2019213029A JP6697204B1 (ja) 2019-01-25 2019-11-26 ロボットシステムの制御方法、非一過性のコンピュータ読取可能な記録媒体及びロボットシステムの制御装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202010277929.4A Division CN111470244B (zh) 2019-01-25 2020-01-20 机器人系统的控制方法以及控制装置

Publications (1)

Publication Number Publication Date
CN111483750A true CN111483750A (zh) 2020-08-04

Family

ID=70682480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010066275.0A Pending CN111483750A (zh) 2019-01-25 2020-01-20 机器人系统的控制方法以及控制装置

Country Status (3)

Country Link
JP (2) JP6697204B1 (de)
CN (1) CN111483750A (de)
DE (1) DE102020101767B4 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117295480A (zh) * 2021-04-29 2023-12-26 X趋势人工智能公司 用于分配指定物品的机器人设备

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021202340A1 (de) 2021-03-10 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum steuern eines roboters zum aufnehmen und inspizieren eines objekts und robotersteuereinrichtung
DE102021115473A1 (de) * 2021-06-15 2022-12-15 Linde Material Handling Gmbh Verfahren zur automatischen Kommissionierung und mobiler Kommissionierroboter
DE102022101825B3 (de) 2022-01-26 2023-02-23 Ssi Schäfer Automation Gmbh (At) Verfahren und System für automatisierte Materialhandhabung einschließlich einer 100%-Verifikation
DE102022203410A1 (de) 2022-04-06 2023-10-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Steuern einer Robotervorrichtung
DE102022121538A1 (de) 2022-08-25 2024-03-07 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Ablegen eines Objekts vermittels eines Roboters
CN116002368B (zh) * 2023-02-09 2023-08-04 安徽布拉特智能科技有限公司 一种电芯上料控制方法、电子设备及存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05217014A (ja) * 1992-02-07 1993-08-27 Fujitsu Ltd バーコード読み取り方法
JP2013078825A (ja) 2011-10-04 2013-05-02 Yaskawa Electric Corp ロボット装置、ロボットシステムおよび被加工物の製造方法
JP5803769B2 (ja) * 2012-03-23 2015-11-04 トヨタ自動車株式会社 移動ロボット
JP6415291B2 (ja) 2014-12-09 2018-10-31 キヤノン株式会社 情報処理装置、情報処理方法、プログラム
JP6466297B2 (ja) 2015-09-14 2019-02-06 株式会社東芝 対象物検出装置、方法及びデパレタイズ自動化装置並びに梱包箱
JP6724499B2 (ja) * 2016-04-05 2020-07-15 株式会社リコー 物体把持装置及び把持制御プログラム
AT519176B1 (de) 2016-10-14 2019-02-15 Engel Austria Gmbh Robotersystem
JP7001354B2 (ja) 2017-03-29 2022-01-19 トーヨーカネツ株式会社 自動物流システム
JP7045139B2 (ja) 2017-06-05 2022-03-31 株式会社日立製作所 機械学習装置、機械学習方法、および機械学習プログラム
DE102017005882B4 (de) 2017-06-22 2019-08-01 FPT Robotik GmbH & Co. KG Verfahren zum Betrieb eines Roboters zur Überprüfung seiner Arbeitsumgebung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117295480A (zh) * 2021-04-29 2023-12-26 X趋势人工智能公司 用于分配指定物品的机器人设备

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Publication number Publication date
JP2021003800A (ja) 2021-01-14
JP2021003801A (ja) 2021-01-14
DE102020101767A1 (de) 2020-07-30
JP6697204B1 (ja) 2020-05-20
DE102020101767B4 (de) 2021-07-22

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