KR20210054448A - 벽-기반 패킹 메커니즘을 구비한 로봇 시스템 및 이것을 작동시키는 방법 - Google Patents

벽-기반 패킹 메커니즘을 구비한 로봇 시스템 및 이것을 작동시키는 방법 Download PDF

Info

Publication number
KR20210054448A
KR20210054448A KR1020200128392A KR20200128392A KR20210054448A KR 20210054448 A KR20210054448 A KR 20210054448A KR 1020200128392 A KR1020200128392 A KR 1020200128392A KR 20200128392 A KR20200128392 A KR 20200128392A KR 20210054448 A KR20210054448 A KR 20210054448A
Authority
KR
South Korea
Prior art keywords
robotic system
model
container
placement
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
KR1020200128392A
Other languages
English (en)
Korean (ko)
Inventor
카누니코프 데니스
니콜라예프 디안코프 로젠
Original Assignee
무진 아이엔씨
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 무진 아이엔씨 filed Critical 무진 아이엔씨
Publication of KR20210054448A publication Critical patent/KR20210054448A/ko
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B25J9/1602—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme 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—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
    • 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
    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme 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—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
    • 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
    • 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, e.g. cubiform, cylindrical
    • B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, 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—Programme-control systems
    • G05B19/02—Programme-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 programme 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 programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme 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)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
  • Image Analysis (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
KR1020200128392A 2019-11-05 2020-10-05 벽-기반 패킹 메커니즘을 구비한 로봇 시스템 및 이것을 작동시키는 방법 Pending KR20210054448A (ko)

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 US11020854B2 (en) 2019-11-05 2020-06-18 Robotic system with wall-based packing mechanism and methods of operating same
US16/905,837 2020-06-18

Publications (1)

Publication Number Publication Date
KR20210054448A true KR20210054448A (ko) 2021-05-13

Family

ID=75686827

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020200128392A Pending KR20210054448A (ko) 2019-11-05 2020-10-05 벽-기반 패킹 메커니즘을 구비한 로봇 시스템 및 이것을 작동시키는 방법

Country Status (5)

Country Link
US (3) US11020854B2 (enExample)
JP (2) JP6771799B1 (enExample)
KR (1) KR20210054448A (enExample)
CN (2) CN112589791B (enExample)
DE (1) DE102020127473A1 (enExample)

Families Citing this family (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
EP3862939A1 (en) * 2020-02-05 2021-08-11 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
US20220405439A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Physics engine based evaluation of pallet stability
WO2022265941A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Workflow for using tree search-based approach for placing boxes on pallet with limited knowledge of future sequence
JP7711222B2 (ja) 2021-06-16 2025-07-22 デクステリティ・インコーポレーテッド ロボットシステム、ロボットを制御するための方法およびロボットを制御するためのコンピュータプログラム製品
WO2022265931A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Simulated box placement for algorithm evaluation and refinement
US20220402134A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Using simulated/generated noise to evaluate and refine state estimation
US12485544B2 (en) * 2021-06-16 2025-12-02 Dexterity, Inc. Workflow for using learning based approach for placing boxes on pallets
WO2022265933A1 (en) * 2021-06-16 2022-12-22 Dexterity, Inc. Collision avoidance based on vision data, geometric data and physics engine evaluation
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
EP4429984A1 (en) 2021-11-10 2024-09-18 Labo, Inc. Automated product unloading, handling, and distribution
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
US20230245036A1 (en) * 2022-01-31 2023-08-03 Dexterity, Inc. Optimization of package weight distribution
US20230321825A1 (en) * 2022-03-25 2023-10-12 Dexterity, Inc. Detection of heavy objects in robotic induction
GB202204711D0 (en) * 2022-03-31 2022-05-18 Ocado Innovation Ltd Controlling a robotic manipulator for packing an object
CN114803570B (zh) * 2022-04-20 2023-06-09 北京汇力智能科技有限公司 物料抓取策略的确定方法、装置、存储介质以及电子设备
CN117733833A (zh) * 2022-09-15 2024-03-22 罗伯特·博世有限公司 用于确定对象的放置方案的方法、装置和计算机可读存储介质
CN115972193B (zh) * 2022-10-21 2025-07-04 梅卡曼德（北京）机器人科技有限公司 吸盘机器人的控制方法、装置和电子设备
CN117961877A (zh) * 2022-10-25 2024-05-03 罗伯特·博世有限公司 用于确定放置对象的路径的方法、装置和计算机可读存储介质
CN115457088B (zh) * 2022-10-31 2023-03-24 成都盛锴科技有限公司 一种列车定轴方法及系统
EP4410497A1 (en) * 2023-02-01 2024-08-07 Siemens Aktiengesellschaft Robotic packing of unknown objects
CN117067204A (zh) 2023-08-18 2023-11-17 浙江恒逸石化有限公司 控制方法、装置、设备以及存储介质
US20250249577A1 (en) * 2024-02-07 2025-08-07 Logistics and Supply Chain MultiTech R&D Centre Limited A learning assisted robotic system, a learning assisted method and a gripper subassembly
WO2025199699A1 (en) * 2024-03-25 2025-10-02 Siemens Aktiengesellschaft Rapid placement pose computation for robotic packing

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6219963A (ja) * 1985-07-19 1987-01-28 Hitachi Ltd 貨物自動積付装置の異常予報方式
JPH1080881A (ja) * 1996-09-06 1998-03-31 Nippon Steel Corp 多関節ロボットの制御装置及びその制御方法
US5908283A (en) 1996-11-26 1999-06-01 United Parcel Service Of Americia, Inc. Method and apparatus for palletizing packages of random size and weight
DE10212590A1 (de) 2002-03-15 2003-10-09 Demag Mobile Cranes Gmbh Optische Einrichtung zur automatischen Be- und Entladung von Containern auf Fahrzeugen
JP3969334B2 (ja) 2003-04-04 2007-09-05 株式会社ダイフク 物品の積付方法
EP3303188B1 (en) * 2015-06-02 2023-11-29 Alert Innovation Inc. Storage and retrieval system
US9600798B2 (en) * 2015-08-12 2017-03-21 Amazon Technologies, Inc. Automated materials handling facility
WO2017061632A1 (ja) 2015-10-08 2017-04-13 トーヨーカネツソリューションズ株式会社 積載ロジックを有する物品積載装置
JP6737087B2 (ja) 2016-09-07 2020-08-05 株式会社ダイフク 物品積載設備
KR102444067B1 (ko) 2016-09-28 2022-09-16 제롬 그호부와 로봇 손을 이용해 크레이트에 오브젝트를 자동화 적재하는 방법
JP6807949B2 (ja) 2016-11-16 2021-01-06 三菱電機株式会社 干渉回避装置
DE102017000524A1 (de) * 2017-01-20 2018-07-26 Liebherr-Verzahntechnik Gmbh Vorrichtung zum automatisierten Entnehmen von in einem Behälter angeordneten Werkstücken
JP6895082B2 (ja) 2017-11-09 2021-06-30 オムロン株式会社 干渉判定方法、干渉判定システム及びコンピュータプログラム
US10766149B2 (en) * 2018-03-23 2020-09-08 Amazon Technologies, Inc. Optimization-based spring lattice deformation model for soft materials
US10335947B1 (en) * 2019-01-18 2019-07-02 Mujin, Inc. Robotic system with piece-loss management mechanism
US10456915B1 (en) * 2019-01-25 2019-10-29 Mujin, Inc. Robotic system with enhanced scanning mechanism
US10576630B1 (en) * 2019-05-31 2020-03-03 Mujin, Inc. Robotic system with a robot arm suction control mechanism and method of operation thereof
US10618172B1 (en) * 2019-05-31 2020-04-14 Mujin, Inc. Robotic system with error detection and dynamic packing mechanism
CN112405570A (zh) * 2019-08-21 2021-02-26 牧今科技 用于夹持和保持物体的机器人多夹持器组件和方法
US11020854B2 (en) * 2019-11-05 2021-06-01 Mujin, Inc. Robotic system with wall-based packing mechanism and methods of operating same

Also Published As

Publication number Publication date
JP7618159B2 (ja) 2025-01-21
JP2021075395A (ja) 2021-05-20
US12157231B2 (en) 2024-12-03
US20230150134A1 (en) 2023-05-18
CN112775960A (zh) 2021-05-11
CN112589791B (zh) 2022-02-08
US11491654B2 (en) 2022-11-08
US20210129333A1 (en) 2021-05-06
CN112589791A (zh) 2021-04-02
JP6771799B1 (ja) 2020-10-21
DE102020127473A1 (de) 2021-07-15
US20210129334A1 (en) 2021-05-06
US11020854B2 (en) 2021-06-01
JP2021074867A (ja) 2021-05-20

Similar Documents

Publication Publication Date Title
JP6771799B1 (ja) 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
KR102408914B1 (ko) 오류 검출 및 동적 패킹 메커니즘을 구비한 로봇 시스템
KR102736205B1 (ko) 동적 패킹 메커니즘을 구비한 로봇 시스템
KR102325417B1 (ko) 패킹 메커니즘을 구비한 로봇 시스템
CN111498213B (zh) 具有动态打包机制的机器人系统
CN111559544B (zh) 具有错误检测和动态打包机制的机器人系统

Legal Events

Date Code Title Description
PA0109 Patent application

St.27 status event code: A-0-1-A10-A12-nap-PA0109

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701