US 12,263,598 B2
Control device, picking system, distribution system, program, control method and production method
Rosen Diankov, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Apr. 19, 2023, as Appl. No. 18/302,856.
Application 18/302,856 is a continuation of application No. 17/375,084, filed on Jul. 14, 2021, granted, now 11,679,503.
Application 17/375,084 is a continuation of application No. 16/592,757, filed on Oct. 3, 2019, granted, now 11,097,421, issued on Aug. 4, 2021.
Application 16/592,757 is a continuation of application No. PCT/JP2017/014133, filed on Apr. 4, 2017.
Prior Publication US 2024/0051137 A1, Feb. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B65G 47/90 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1697 (2013.01); B65G 47/905 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control device comprising:
at least one processor configured, when a plurality of articles in a supply region are represented in image data generated by at least one image capturing apparatus, to:
perform an object recognition operation for identifying, based on the image data, a first article of the plurality of articles;
perform a trajectory planning operation for generating a set of trajectory information that defines a trajectory for the first article from the supply region to a delivery region; and
perform an execution operation for outputting a set of control information that is generated based on the set of trajectory information, wherein the set of control information is for causing a robot to move the first article from the supply region to the delivery region.