CN116194256A - 具有重叠处理机制的机器人系统及其操作方法 - Google Patents

具有重叠处理机制的机器人系统及其操作方法 Download PDF

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Publication number
CN116194256A
CN116194256A CN202280004989.6A CN202280004989A CN116194256A CN 116194256 A CN116194256 A CN 116194256A CN 202280004989 A CN202280004989 A CN 202280004989A CN 116194256 A CN116194256 A CN 116194256A
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China
Prior art keywords
detection
occlusion
detection result
information
target
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Pending
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CN202280004989.6A
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English (en)
Chinese (zh)
Inventor
金本良树
艾哈迈德·阿布勒拉
余锦泽
何塞·赫罗尼莫·莫雷拉·罗德里格斯
鲁仙·出杏光
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Mu Jinkeji
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Mu Jinkeji
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Priority to CN202310549157.9A priority Critical patent/CN116638509A/zh
Publication of CN116194256A publication Critical patent/CN116194256A/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—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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/54—Extraction of image or video features relating to texture
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
  • De-Stacking Of Articles (AREA)
CN202280004989.6A 2021-09-01 2022-09-01 具有重叠处理机制的机器人系统及其操作方法 Pending CN116194256A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310549157.9A CN116638509A (zh) 2021-09-01 2022-09-01 具有重叠处理机制的机器人系统及其操作方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202163239795P 2021-09-01 2021-09-01
US63/239,795 2021-09-01
PCT/US2022/042387 WO2023034533A1 (en) 2021-09-01 2022-09-01 Robotic system with overlap processing mechanism and methods for operating the same

Related Child Applications (1)

Application Number Title Priority Date Filing Date
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Publication Number Publication Date
CN116194256A true CN116194256A (zh) 2023-05-30

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Country Status (5)

Country Link
US (1) US20230071488A1 (enExample)
EP (1) EP4395965A4 (enExample)
JP (2) JP7398763B2 (enExample)
CN (2) CN116194256A (enExample)
WO (1) WO2023034533A1 (enExample)

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US20230249345A1 (en) * 2022-02-09 2023-08-10 eBots Inc. System and method for sequencing assembly tasks
JP2024155438A (ja) * 2023-04-21 2024-10-31 株式会社日立製作所 物体認識装置、物体認識方法、および、搬送ロボットシステム
US20240371127A1 (en) * 2023-05-07 2024-11-07 Plus One Robotics, Inc. Machine vision systems and methods for robotic picking and other environments
WO2024257546A1 (ja) * 2023-06-15 2024-12-19 株式会社安川電機 ロボットシステム、ロボット制御方法、およびロボット制御プログラム
US20250010489A1 (en) * 2023-07-03 2025-01-09 Mitsubishi Electric Research Laboratories, Inc. System and Method for Controlling Operation of Robotic Manipulator with Soft Robotic Touch
CN119858168B (zh) * 2025-03-24 2025-06-27 长春慧程科技有限公司 一种基于工业互联网的汽车生产线安全监控系统

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US8073197B2 (en) * 2005-03-17 2011-12-06 British Telecommunications Public Limited Company Method of tracking objects in a video sequence
JP4199264B2 (ja) * 2006-05-29 2008-12-17 ファナック株式会社 ワーク取り出し装置及び方法
FI20106387L (fi) * 2010-12-30 2012-07-01 Zenrobotics Oy Menetelmä, tietokoneohjelma ja laite tartuntakohdan määrittämiseksi
JP6000029B2 (ja) * 2012-09-10 2016-09-28 株式会社アプライド・ビジョン・システムズ ハンドリングシステム、ハンドリング方法及びプログラム
US9904852B2 (en) * 2013-05-23 2018-02-27 Sri International Real-time object detection, tracking and occlusion reasoning
US9259844B2 (en) * 2014-02-12 2016-02-16 General Electric Company Vision-guided electromagnetic robotic system
EP4088889A1 (en) * 2015-11-13 2022-11-16 Berkshire Grey Operating Company, Inc. Sortation systems and methods for providing sortation of a variety of objects
US10322510B2 (en) * 2017-03-03 2019-06-18 Futurewei Technologies, Inc. Fine-grained object recognition in robotic systems
CN108319953B (zh) * 2017-07-27 2019-07-16 腾讯科技（深圳）有限公司 目标对象的遮挡检测方法及装置、电子设备及存储介质
JP7062406B2 (ja) * 2017-10-30 2022-05-16 株式会社東芝 情報処理装置及びロボットアーム制御システム
US11724401B2 (en) * 2019-11-13 2023-08-15 Nvidia Corporation Grasp determination for an object in clutter
US10759054B1 (en) * 2020-02-26 2020-09-01 Grey Orange Pte. Ltd. Method and system for handling deformable objects
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US11559885B2 (en) * 2020-07-14 2023-01-24 Intrinsic Innovation Llc Method and system for grasping an object
US11911919B2 (en) * 2021-03-05 2024-02-27 Mujin, Inc. Method and computing system for performing grip region detection

Also Published As

Publication number Publication date
CN116638509A (zh) 2023-08-25
WO2023034533A1 (en) 2023-03-09
EP4395965A1 (en) 2024-07-10
JP7398763B2 (ja) 2023-12-15
US20230071488A1 (en) 2023-03-09
JP2023539403A (ja) 2023-09-14
JP2024020532A (ja) 2024-02-14
EP4395965A4 (en) 2025-07-30

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