US 12,269,164 B2
Method and computing system for performing robot motion planning and repository detection
Xutao Ye, Tokyo (JP); Hamdi Sahloul, Tokyo (JP); Puttichai Lertkultanon, Tokyo (JP); and Rosen Nikolaev Diankov, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Apr. 29, 2022, as Appl. No. 17/733,024.
Claims priority of provisional application 63/183,685, filed on May 4, 2021.
Prior Publication US 2022/0355474 A1, Nov. 10, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1635 (2013.01) [B25J 9/1633 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A computing system comprising:
a communication interface configured to communicate with a robot having a robot arm that includes or is attached to an end effector apparatus, and having a camera attached to the robot arm;
at least one processing circuit configured, when the robot is in an object transfer region that includes a source repository and a destination repository, to perform the following for transferring an object from the source repository to the destination repository:
outputting a first destination repository approach command for causing the robot arm to approach a predetermined location of the destination repository in a manner that causes the camera to be pointed at the destination repository while the end effector is not transporting an object;
receiving image information describing the destination repository generated by the camera after the first destination repository approach command is executed;
performing, based on the image information, a repository detection operation that calculates and/or validates and/or updates at least one of: repository structure information for describing a structure of the destination repository or repository pose information for describing a pose of the destination repository;
outputting a source repository approach command for causing the robot arm to approach the source repository after the camera has generated the image information for describing the destination repository;
outputting an object pickup command for causing the end effector apparatus to pick up the object from the source repository;
outputting a second destination repository approach command for causing the robot arm to approach the destination repository after the object pickup command is executed; and
outputting an object placement command for causing the end effector apparatus to place the object in the destination repository after the second destination repository approach command is executed, wherein the object placement command is generated based on at least one of the repository structure information or the repository pose information.