JP6771799B1 - 壁に基づくパッキング機構を有するロボットシステム及びその動作方法 - Google Patents

壁に基づくパッキング機構を有するロボットシステム及びその動作方法 Download PDF

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Publication number
JP6771799B1
JP6771799B1 JP2020130375A JP2020130375A JP6771799B1 JP 6771799 B1 JP6771799 B1 JP 6771799B1 JP 2020130375 A JP2020130375 A JP 2020130375A JP 2020130375 A JP2020130375 A JP 2020130375A JP 6771799 B1 JP6771799 B1 JP 6771799B1
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Prior art keywords
robot system
model
container
mounting
candidate
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English (en)
Japanese (ja)
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JP2021074867A (ja
Inventor
カヌニコフ，デニス
ニコラエフ デアンコウ，ロセン
ニコラエフ デアンコウ，ロセン
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Mujin Inc
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Mujin Inc
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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—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
    • 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
    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/50—Stacking one article, or group of articles, upon another before packaging
    • 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
    • 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
    • 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
    • B65G47/905—Control arrangements
    • 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
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • 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
    • B65G57/00—Stacking of articles
    • 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 [3D], e.g. cubiform or cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional [3D], e.g. cubiform or 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
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • 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 program 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 program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • 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
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • 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
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • 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
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0304—Stacking devices
    • 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
    • G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators
    • 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
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
    • 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
    • G05B2219/40067—Stack irregular packages
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • 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)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Image Analysis (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
JP2020130375A 2019-11-05 2020-07-31 壁に基づくパッキング機構を有するロボットシステム及びその動作方法 Active JP6771799B1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020158291A JP7618159B2 (ja) 2019-11-05 2020-09-23 壁に基づくパッキング機構を有するロボットシステム及びその動作方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
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

Related Child Applications (1)

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JP6771799B1 true JP6771799B1 (ja) 2020-10-21
JP2021074867A JP2021074867A (ja) 2021-05-20

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US (3) US11020854B2 (cg-RX-API-DMAC10.html)
JP (2) JP6771799B1 (cg-RX-API-DMAC10.html)
KR (1) KR102930151B1 (cg-RX-API-DMAC10.html)
CN (2) CN112589791B (cg-RX-API-DMAC10.html)
DE (1) DE102020127473A1 (cg-RX-API-DMAC10.html)

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JP2024525277A (ja) * 2021-06-16 2024-07-12 デクステリティ・インコーポレーテッド 将来のシーケンスの限られた知識でパレット上に箱をプレースするための木検索ベースアプローチを用いるためのワークフロー
US12258227B2 (en) 2021-06-16 2025-03-25 Dexterity, Inc. Simulated box placement for algorithm evaluation and refinement
US12486125B2 (en) 2021-06-16 2025-12-02 Dexterity, Inc. Collision avoidance based on vision data, geometric data and physics engine evaluation
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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KR102821604B1 (ko) 2018-10-30 2025-06-19 무진 아이엔씨 로봇 시스템을 동작하기 위한 방법, 로봇 시스템 및 컴퓨터로 실행 가능한 명령어를 저장한 비일시적 저장 매체
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
US11020854B2 (en) * 2019-11-05 2021-06-01 Mujin, Inc. Robotic system with wall-based packing mechanism and methods of operating same
US12307405B2 (en) * 2020-02-05 2025-05-20 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
WO2022265932A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Physics engine based evaluation of pallet stability
US20220402134A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Using simulated/generated noise to evaluate and refine state estimation
WO2022265929A1 (en) 2021-06-16 2022-12-22 Dexterity, Inc. State estimation using geometric data and vision system for palletizing
US12544929B2 (en) 2021-07-21 2026-02-10 Mujin, Inc. Robotic system with depth-based processing mechanism and methods for operating the same
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
WO2023146848A1 (en) 2022-01-31 2023-08-03 Dexterity, Inc. Object partitioner between heterogeneous transport containers
US12643235B2 (en) 2022-01-31 2026-06-02 Dexterity, Inc. Object sequencer for container loading
WO2023146851A1 (en) * 2022-01-31 2023-08-03 Dexterity, Inc. Optimization of package weight distribution
WO2023146886A1 (en) 2022-01-31 2023-08-03 Dexterity, Inc. Packing and planning for tight incollapsible loads
US12544920B2 (en) * 2022-03-25 2026-02-10 Dexterity, Inc. Detection of heavy objects in robotic induction
US20250181081A1 (en) * 2022-03-28 2025-06-05 Seegrid Corporation Localization of horizontal infrastructure using point clouds
GB202204711D0 (en) * 2022-03-31 2022-05-18 Ocado Innovation Ltd Controlling a robotic manipulator for packing an object
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