JP6697204B1 - 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 - Google Patents

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 Download PDF

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JP6697204B1
JP6697204B1 JP2019213029A JP2019213029A JP6697204B1 JP 6697204 B1 JP6697204 B1 JP 6697204B1 JP 2019213029 A JP2019213029 A JP 2019213029A JP 2019213029 A JP2019213029 A JP 2019213029A JP 6697204 B1 JP6697204 B1 JP 6697204B1
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Prior art keywords
operation target
robot system
scan
end effector
pose
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Japanese (ja)
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JP2021003800A (ja
Inventor
デアンコウ，ロセン
良樹 金本
良樹 金本
カヌニコフ，デニス
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Mujin Inc
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Mujin Inc
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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
Priority to CN202010066275.0A priority patent/CN111483750A/zh
Priority to US16/752,582 priority patent/US10870204B2/en
Priority to DE102020101767.7A priority patent/DE102020101767B4/de
Publication of JP6697204B1 publication Critical patent/JP6697204B1/ja
Application granted granted Critical
Priority to US17/110,205 priority patent/US11413753B2/en
Publication of JP2021003800A publication Critical patent/JP2021003800A/ja
Priority to US17/806,432 priority patent/US11772267B2/en
Priority to US18/465,101 priority patent/US20240075619A1/en
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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
    • B25J9/1612—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

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  • 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)
JP2019213029A 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 Active JP6697204B1 (ja)

Priority Applications (7)

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
CN202010066275.0A CN111483750A (zh) 2019-01-25 2020-01-20 机器人系统的控制方法以及控制装置
US16/752,582 US10870204B2 (en) 2019-01-25 2020-01-24 Robotic system control method and controller
DE102020101767.7A DE102020101767B4 (de) 2019-01-25 2020-01-24 Steuerverfahren und steuerung für ein robotersystem
US17/110,205 US11413753B2 (en) 2019-01-25 2020-12-02 Robotic system control method and controller
US17/806,432 US11772267B2 (en) 2019-01-25 2022-06-10 Robotic system control method and controller
US18/465,101 US20240075619A1 (en) 2019-01-25 2023-09-11 Robotic system control method and controller

Applications Claiming Priority (4)

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
JP2019118678 2019-06-26
JP2019118678 2019-06-26

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020070953A Division JP2021003801A (ja) 2019-01-25 2020-04-10 ロボットシステムの制御方法及び制御装置

Publications (2)

Publication Number Publication Date
JP6697204B1 true JP6697204B1 (ja) 2020-05-20
JP2021003800A JP2021003800A (ja) 2021-01-14

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JP2019213029A Active 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
JP2020070953A Pending JP2021003801A (ja) 2019-01-25 2020-04-10 ロボットシステムの制御方法及び制御装置

Family Applications After (1)

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JP2020070953A Pending JP2021003801A (ja) 2019-01-25 2020-04-10 ロボットシステムの制御方法及び制御装置

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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
CN116002368A (zh) * 2023-02-09 2023-04-25 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

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
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
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

Citations (4)

* 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
JP2013198943A (ja) * 2012-03-23 2013-10-03 Toyota Motor Corp 移動ロボット
JP2017185578A (ja) * 2016-04-05 2017-10-12 株式会社リコー 物体把持装置及び把持制御プログラム

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

Patent Citations (4)

* 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
JP2013198943A (ja) * 2012-03-23 2013-10-03 Toyota Motor Corp 移動ロボット
JP2017185578A (ja) * 2016-04-05 2017-10-12 株式会社リコー 物体把持装置及び把持制御プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116002368A (zh) * 2023-02-09 2023-04-25 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
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

Also Published As

Publication number Publication date
JP2021003800A (ja) 2021-01-14
JP2021003801A (ja) 2021-01-14
DE102020101767A1 (de) 2020-07-30
CN111483750A (zh) 2020-08-04
DE102020101767B4 (de) 2021-07-22

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