CN112775960A - 具有基于壁的打包机制的机器人系统及其操作方法 - Google Patents

具有基于壁的打包机制的机器人系统及其操作方法 Download PDF

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Publication number
CN112775960A
CN112775960A CN202010900791.9A CN202010900791A CN112775960A CN 112775960 A CN112775960 A CN 112775960A CN 202010900791 A CN202010900791 A CN 202010900791A CN 112775960 A CN112775960 A CN 112775960A
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China
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robotic system
model
placement
container
location
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CN202010900791.9A
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Chinese (zh)
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德尼斯·卡努尼考夫
鲁仙·出杏光
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Mu Jinkeji
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Mu Jinkeji
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Priority to CN202011167199.9A priority Critical patent/CN112589791B/zh
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    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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    • 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
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    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
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    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Quality & Reliability (AREA)
  • Manufacturing & Machinery (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Image Analysis (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
CN202010900791.9A 2019-11-05 2020-08-31 具有基于壁的打包机制的机器人系统及其操作方法 Pending CN112775960A (zh)

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US201962931161P 2019-11-05 2019-11-05
US62/931,161 2019-11-05
US16/905,837 2020-06-18
US16/905,837 US11020854B2 (en) 2019-11-05 2020-06-18 Robotic system with wall-based packing mechanism and methods of operating same

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US (3) US11020854B2 (enExample)
JP (2) JP6771799B1 (enExample)
KR (1) KR20210054448A (enExample)
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DE (1) DE102020127473A1 (enExample)

Cited By (7)

* Cited by examiner, † Cited by third party
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CN112589791A (zh) * 2019-11-05 2021-04-02 牧今科技 具有基于壁的打包机制的机器人系统及其操作方法
CN115972193A (zh) * 2022-10-21 2023-04-18 梅卡曼德（北京）机器人科技有限公司 吸盘机器人的控制方法、装置和电子设备
TWI849436B (zh) * 2021-06-16 2024-07-21 美商靈巧公司 機器人系統、用以控制一機器人之方法及用以控制一機器人之電腦程式產品
TWI849437B (zh) * 2021-06-16 2024-07-21 美商靈巧公司 機器人系統、控制一機器人之方法、及用以控制一機器人之電腦程式產品
TWI868453B (zh) * 2021-06-16 2025-01-01 美商靈巧公司 機器人系統、用來控制一機器人之方法、及用來控制一機器人之電腦程式產品
US12214975B2 (en) 2021-06-16 2025-02-04 Dexterity, Inc. State estimation using geometric data and vision system for palletizing
US12485544B2 (en) 2021-06-16 2025-12-02 Dexterity, Inc. Workflow for using learning based approach for placing boxes on pallets

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DE112019000125B4 (de) 2018-10-30 2021-07-01 Mujin, Inc. Systeme, vorrichtungen und verfahren zur automatisierten verpackungsregistrierung
US10369701B1 (en) 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods
US11216014B1 (en) * 2019-08-01 2022-01-04 Amazon Technologies, Inc. Combined semantic configuration spaces
EP3862939A1 (en) * 2020-02-05 2021-08-11 Tata Consultancy Services Limited System and method for autonomous multi-bin parcel loading system
EP3866079B1 (en) * 2020-02-12 2025-07-02 Tata Consultancy Services Limited Method and system for automated object packing
US11443449B2 (en) * 2020-02-26 2022-09-13 Zebra Technologies Corporation Three-dimensional (3D) imaging systems and methods for virtual grading of package walls in commercial trailer loading
US11772833B1 (en) * 2020-03-30 2023-10-03 Amazon Technologies, Inc. Systems and methods for automated custom shipping containers
US11511417B1 (en) * 2020-05-18 2022-11-29 Amazon Technologies, Inc. Conveyance modulation based on fragility ratings
US11334085B2 (en) * 2020-05-22 2022-05-17 The Regents Of The University Of California Method to optimize robot motion planning using deep learning
US12390931B2 (en) * 2020-07-15 2025-08-19 Duke University Autonomous robot packaging of arbitrary objects
JP7395451B2 (ja) * 2020-09-16 2023-12-11 株式会社東芝 ハンドリング装置、処理装置、コントローラ及びプログラム
US11905115B2 (en) 2021-04-30 2024-02-20 Dexterity, Inc. Robotic system for identifying items
WO2022265940A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Using simulated/generated noise to evaluate and refine state estimation
US20220405439A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Physics engine based evaluation of pallet stability
US12290944B2 (en) 2021-08-09 2025-05-06 Mujin, Inc. Robotic system with image-based sizing mechanism and methods for operating the same
JP2023045031A (ja) * 2021-09-21 2023-04-03 株式会社東芝 供給装置
US12444035B2 (en) * 2021-10-13 2025-10-14 Chep Technology Pty Limited Pallet inspection system and associated methods
KR20240101940A (ko) 2021-11-10 2024-07-02 랩0 인코포레이션 자동 제품 하역, 취급, 및 분배
GB202117123D0 (en) * 2021-11-26 2022-01-12 Ocado Innovation Ltd Detecting a transport device in a workspace
DE102021213568A1 (de) 2021-11-30 2023-06-01 Gebhardt Fördertechnik GmbH Lager- und Entnahmesystem sowie Verfahren zum Betreiben eines Lager- und Entnahmesystems
US12486122B2 (en) 2021-12-23 2025-12-02 Solomon Technology Corporation Method and system for automatically placing an object into a container
CN114275211B (zh) * 2022-01-10 2023-03-03 季华实验室 一种防止物体挤压的自动化堆放方法及装置
US20230245036A1 (en) * 2022-01-31 2023-08-03 Dexterity, Inc. Optimization of package weight distribution
US20230321825A1 (en) * 2022-03-25 2023-10-12 Dexterity, Inc. Detection of heavy objects in robotic induction
GB202204711D0 (en) * 2022-03-31 2022-05-18 Ocado Innovation Ltd Controlling a robotic manipulator for packing an object
CN114803570B (zh) * 2022-04-20 2023-06-09 北京汇力智能科技有限公司 物料抓取策略的确定方法、装置、存储介质以及电子设备
CN117733833A (zh) * 2022-09-15 2024-03-22 罗伯特·博世有限公司 用于确定对象的放置方案的方法、装置和计算机可读存储介质
CN117961877A (zh) * 2022-10-25 2024-05-03 罗伯特·博世有限公司 用于确定放置对象的路径的方法、装置和计算机可读存储介质
CN115457088B (zh) * 2022-10-31 2023-03-24 成都盛锴科技有限公司 一种列车定轴方法及系统
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