JP7398763B2 - 重なり処理機構を備えたロボットシステム及びその操作方法 - Google Patents

重なり処理機構を備えたロボットシステム及びその操作方法 Download PDF

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Publication number
JP7398763B2
JP7398763B2 JP2022575865A JP2022575865A JP7398763B2 JP 7398763 B2 JP7398763 B2 JP 7398763B2 JP 2022575865 A JP2022575865 A JP 2022575865A JP 2022575865 A JP2022575865 A JP 2022575865A JP 7398763 B2 JP7398763 B2 JP 7398763B2
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Prior art keywords
detection result
occlusion
detection
target
flexible objects
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Japanese (ja)
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JP2023539403A (ja
Inventor
ニコラエフ デアンコウ，ロセン
良樹 金本
アブエラ，アメッド
ユ，ジンゼ
ジェロニモ モレイラ ロドリゲス，ホセ
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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
    • B25J9/1694—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
    • B25J9/1679—Program 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—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
    • 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 [3D] 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

Landscapes

  • 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)
JP2022575865A 2021-09-01 2022-09-01 重なり処理機構を備えたロボットシステム及びその操作方法 Active JP7398763B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023199732A JP2024020532A (ja) 2021-09-01 2023-11-27 重なり処理機構を備えたロボットシステム及びその操作方法

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)

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JP2023199732A Division JP2024020532A (ja) 2021-09-01 2023-11-27 重なり処理機構を備えたロボットシステム及びその操作方法

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JP2023539403A JP2023539403A (ja) 2023-09-14
JP7398763B2 true JP7398763B2 (ja) 2023-12-15

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JP2023199732A Pending JP2024020532A (ja) 2021-09-01 2023-11-27 重なり処理機構を備えたロボットシステム及びその操作方法

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Country Link
US (1) US20230071488A1 (cg-RX-API-DMAC10.html)
EP (1) EP4395965A4 (cg-RX-API-DMAC10.html)
JP (2) JP7398763B2 (cg-RX-API-DMAC10.html)
CN (2) CN116638509A (cg-RX-API-DMAC10.html)
WO (1) WO2023034533A1 (cg-RX-API-DMAC10.html)

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DE112023000857B4 (de) * 2022-02-08 2026-04-23 Kabushiki Kaisha Toshiba Handhabungssystem, handhabungsverfahren, programm, informationsverarbeitungsvorrichtung und datenstruktur
US12515332B2 (en) * 2022-02-09 2026-01-06 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
DE112024001966T5 (de) * 2023-06-15 2026-02-26 Kabushiki Kaisha Yaskawa Denki Robotersteuerungssystem, Robotersteuerungsverfahren und Robotersteuerungsprogramm
CN116654636B (zh) * 2023-06-21 2026-02-13 上海交通大学 一种基于力传感器感知与补偿的不规则物体堆叠方法
US12661803B2 (en) * 2023-07-03 2026-06-23 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling operation of robotic manipulator with soft robotic touch
CH722492A1 (fr) * 2025-01-13 2026-07-31 Richemont Int Sa Procédé de manipulation automatique de composants d'horlogerie et de joaillerie
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
CN120646439B (zh) * 2025-07-29 2026-06-12 美蓝(杭州)医药科技有限公司 液袋抓取控制方法、装置、电子设备及存储介质

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Publication number Publication date
JP2024020532A (ja) 2024-02-14
US20230071488A1 (en) 2023-03-09
CN116194256A (zh) 2023-05-30
WO2023034533A1 (en) 2023-03-09
JP2023539403A (ja) 2023-09-14
CN116638509A (zh) 2023-08-25
EP4395965A1 (en) 2024-07-10
EP4395965A4 (en) 2025-07-30

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