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

US11407111B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Biao Zhang · Nanjing, CN
• Remus Boca · Simsbury, US
• Carlos W. Morato · Avon, US
• Carlos Martinez · South Windsor, US
• Jianjun Wang · Troy, US
• Zhou Teng · Hartford, US
• Jinmiao Huang · Vernon, US
• Magnus Wahlström · Västerås, SE
• Johnny Holmberg · Hallstahammar, SE

Key dates

• Filing date: Jun 27, 2018
• Grant date: Aug 9, 2022
• Expiry date: Jan 12, 2039

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40476
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot is configured to perform a task on an object using a method for generating a 3D model sufficient 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.