CN115008451A - 用于执行抓持区域检测的方法和计算系统 - Google Patents

用于执行抓持区域检测的方法和计算系统 Download PDF

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Publication number
CN115008451A
CN115008451A CN202110640097.2A CN202110640097A CN115008451A CN 115008451 A CN115008451 A CN 115008451A CN 202110640097 A CN202110640097 A CN 202110640097A CN 115008451 A CN115008451 A CN 115008451A
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China
Prior art keywords
region
slices
computing system
area
gripping
Prior art date
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Pending
Application number
CN202110640097.2A
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English (en)
Chinese (zh)
Inventor
何塞·赫罗尼莫·莫雷拉·罗德里格斯
魯仙·出杏光
余錦澤
A·阿布勒拉
金本芳树
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Mu Jinkeji
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Mu Jinkeji
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Filing date
Publication date
Application filed by Mu Jinkeji filed Critical Mu Jinkeji
Priority to CN202110775316.8A priority Critical patent/CN113459101B/zh
Publication of CN115008451A publication Critical patent/CN115008451A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/39469—Grip flexible, deformable plate, object and manipulate it

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN202110640097.2A 2021-03-05 2021-06-09 用于执行抓持区域检测的方法和计算系统 Pending CN115008451A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110775316.8A CN113459101B (zh) 2021-03-05 2021-06-09 用于执行抓持区域检测的方法和计算系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US17/193,268 US11911919B2 (en) 2021-03-05 2021-03-05 Method and computing system for performing grip region detection
US17/193,268 2021-03-05

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202110775316.8A Division CN113459101B (zh) 2021-03-05 2021-06-09 用于执行抓持区域检测的方法和计算系统

Publications (1)

Publication Number Publication Date
CN115008451A true CN115008451A (zh) 2022-09-06

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Family Applications (1)

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CN202110640097.2A Pending CN115008451A (zh) 2021-03-05 2021-06-09 用于执行抓持区域检测的方法和计算系统

Country Status (3)

Country Link
US (2) US11911919B2 (https=)
JP (2) JP6948033B1 (https=)
CN (1) CN115008451A (https=)

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ES3042126T3 (en) 2020-02-06 2025-11-18 Berkshire Grey Operating Company Inc Systems and methods for camera calibration with a fiducial of unknown position on an articulated arm of a programmable motion device
US12321149B2 (en) * 2021-05-17 2025-06-03 The Boeing Company Method for computer analysis of as-programmed surface quality of composite structure
US20230071488A1 (en) * 2021-09-01 2023-03-09 Mujin, Inc. Robotic system with overlap processing mechanism and methods for operating the same
US20230234233A1 (en) * 2022-01-26 2023-07-27 Nvidia Corporation Techniques to place objects using neural networks
CN114581600B (zh) * 2022-01-27 2024-07-30 浙江大学 一种适用于类球形果蔬抓取的真空吸盘吸取方法
US12508713B2 (en) * 2022-03-08 2025-12-30 Mujin, Inc. Systems and methods for robotic system with object handling
DE102022123762A1 (de) * 2022-09-16 2024-03-21 Haver & Boecker Ohg Verfahren zum Greifen und Überführen wenigstens einer Einzeleinheit und Verwendung eines Systems
US12440983B1 (en) * 2022-12-04 2025-10-14 Anyware Robotics Inc. Learning-embedded motion planning
JPWO2024166293A1 (https=) * 2023-02-09 2024-08-15
WO2025069297A1 (ja) * 2023-09-28 2025-04-03 株式会社ニコン 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム
CN118062572A (zh) * 2024-01-12 2024-05-24 河南旭阳光电科技有限公司 一种吸附方法及吸附装置
DE102024108378A1 (de) * 2024-03-25 2025-09-25 J.Schmalz Gmbh Verfahren zum Handhaben eines Greifobjektes mittels einer Handhabungsanlage, sowie Handhabungsanlage und Endeffektor

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JP4153528B2 (ja) * 2006-03-10 2008-09-24 ファナック株式会社 ロボットシミュレーションのための装置、プログラム、記録媒体及び方法
US8944481B2 (en) * 2010-12-31 2015-02-03 Fundacion Tecnalia Research & Innovation Gripping device for manipulating flexible elements
DE102014001168B4 (de) 2014-01-31 2019-03-14 Abb Schweiz Ag Robotersteuerung
SE538950C2 (sv) 2014-03-28 2017-02-28 Yaskawa Nordic Ab Förfarande och robotcell för hantering av buntar av flexiblasubstrat
US9694494B1 (en) * 2015-12-11 2017-07-04 Amazon Technologies, Inc. Feature identification and extrapolation for robotic item grasping
JP7136554B2 (ja) 2017-12-18 2022-09-13 国立大学法人信州大学 把持装置、学習装置、プログラム、把持システム、及び学習方法
CN111275063B (zh) 2018-12-04 2023-06-09 深圳市中科德睿智能科技有限公司 一种基于3d视觉的机器人智能抓取控制方法及系统
CN109483554B (zh) 2019-01-22 2020-05-12 清华大学 基于全局和局部视觉语义的机器人动态抓取方法及系统
CN209755189U (zh) 2019-03-05 2019-12-10 西安工程大学 一种柔软织物机械手抓取装置
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US11813758B2 (en) * 2019-04-05 2023-11-14 Dexterity, Inc. Autonomous unknown object pick and place
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WO2021001882A1 (ja) 2019-07-01 2021-01-07 オムロン株式会社 情報処理装置及び情報処理方法
KR102737171B1 (ko) * 2019-07-15 2024-12-03 엘지전자 주식회사 로봇 및 이를 포함하는 의류 폴딩 장치
US10906188B1 (en) * 2019-10-25 2021-02-02 Dexterity, Inc. Singulation of arbitrary mixed items

Also Published As

Publication number Publication date
US12358152B2 (en) 2025-07-15
US11911919B2 (en) 2024-02-27
JP6948033B1 (ja) 2021-10-13
JP2022135849A (ja) 2022-09-15
US20240190011A1 (en) 2024-06-13
JP2022135882A (ja) 2022-09-15
US20220281114A1 (en) 2022-09-08
JP7659756B2 (ja) 2025-04-10

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