US 12,263,577 B2
Methods and systems for detecting transport abnormality
Yoshiki Kanemoto, Tokyo (JP); and Rosen Diankov, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Jan. 12, 2022, as Appl. No. 17/573,755.
Application 17/573,755 is a continuation of application No. 16/882,518, filed on May 24, 2020, granted, now 11,247,341.
Application 16/882,518 is a continuation of application No. PCT/JP2019/042671, filed on Oct. 30, 2019.
Claims priority of provisional application 62/752,756, filed on Oct. 30, 2018.
Claims priority of application No. 2019-175477 (JP), filed on Sep. 26, 2019.
Prior Publication US 2022/0134572 A1, May 5, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B65G 47/91 (2006.01); B65G 61/00 (2006.01); G06F 18/22 (2023.01); G06T 1/00 (2006.01); G06T 7/00 (2017.01); G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06T 7/66 (2017.01); G06V 10/44 (2022.01); G06V 20/10 (2022.01)
CPC B25J 15/0616 (2013.01) [B25J 9/0093 (2013.01); B25J 9/1697 (2013.01); B25J 13/085 (2013.01); B65G 47/91 (2013.01); B65G 61/00 (2013.01); G06F 18/22 (2023.01); G06T 1/0014 (2013.01); G06T 7/001 (2013.01); G06T 7/13 (2017.01); G06T 7/50 (2017.01); G06T 7/66 (2017.01); G06V 10/443 (2022.01); G06V 20/10 (2022.01); G05B 2219/39001 (2013.01); G05B 2219/40067 (2013.01); G06T 2207/20212 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control apparatus comprising:
a mass information acquiring circuit configured to acquire mass information representing a mass of a target item;
a plan information acquiring circuit configured to acquire plan information representing content of a plan relating to a trajectory path of at least one of a distal end of a manipulator or a gripping unit for gripping the target item arranged at the distal end;
a force sensation estimating circuit configured to determine estimated force information before the target item is transported from an initial location by the manipulator according to the plan information, the estimated force information representing an estimated magnitude of at least one of an estimated force or an estimated torque estimated based on an estimated force acting on the target item at the distal end of the manipulator at a corresponding point of the trajectory path;
a force sensation information acquiring circuit configured to acquire force sensation information representing a measured magnitude of at least one of a force or a torque at the distal end of the manipulator caused by force acting on the target item while the target item is being transported by the manipulator based on the acquired plan information;
a first detecting circuit configured to detect an abnormality during transporting of the target item, based on a comparison of the force sensation information measured during transportation of the target item to the estimated force information; and
an abnormality mitigating circuit configured to, in response to the abnormality being detected during transportation of the target item, causing adjustment to the transportation of the target item by adjusting one or more parameters of the plan information and/or causing the target item to cease being transported.