Method and system to generate 3D model for robot scene

A technology of robots and scenes, applied in the field of 3D models, can solve the problems of robot movement interference, hindering the completion of work tasks, etc.

Active Publication Date: 2020-01-03
ABB (SCHWEIZ) AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Randomly placed objects in the robot's work area or in the industrial scene may interfere with certain movements of the robot and prevent the completion of work tasks

Method used

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  • Method and system to generate 3D model for robot scene
  • Method and system to generate 3D model for robot scene
  • Method and system to generate 3D model for robot scene

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Embodiment Construction

[0011] To promote an understanding of the principles of the application, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. However, it should be understood that no limitation of the scope of the application is thereby intended. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the application as described herein, will normally occur to persons skilled in the art to which this application relates.

[0012] As the field of robotics continues to grow, more and more attention is being placed on the development of techniques that allow for more tightly coupled human-robot interaction (HRI). The application of HRI technology helps the robot understand information about its surrounding environment and allows the operator to understand or receive feedback on the level of understanding the robot has achieved. An initial understanding...

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Abstract

The embodiment of the disclosure relates to a method and system to generate a 3D model for a robot scene. A robot is configured to perform a task on an object using a method for generating a 3D modelsufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.

Description

technical field [0001] The present application relates generally to modeling of industrial scenes by robots, and more particularly, but not exclusively, to building a 3D model of an industrial scene by scanning with a vision sensor associated with the robot. Background technique [0002] As the field of robotics continues to develop, more and more attention is being paid to the development of techniques that allow robots to determine collision-free paths and positions of workpieces or other objects in real time. Randomly placed objects in the robot's work area or in an industrial scene may interfere with certain movements of the robot and prevent the completion of work tasks. Some existing systems have various disadvantages with respect to certain applications. Therefore, further contributions in this technical area are still required. Contents of the invention [0003] One embodiment of the present application is a unique system and method for generating a real-time 3D ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1666B25J9/1676G05B2219/40476G05B2219/40323G05B2219/40424B25J9/1612B25J9/1671B25J9/1697B25J19/023G06V20/10
Inventor 张飚R·博卡C·莫拉托C·马蒂内兹汪建军滕舟黄金苗M·瓦尔斯特罗姆J·霍姆尔伯格
Owner ABB (SCHWEIZ) AG
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