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US 10,366,531 B2Granted
Robot motion planning for photogrammetry
AssigneeLowe's Companies, Inc.
InventorMason E. Sheffield
Life of this patent
Estimating the term…
Abstract
Described herein are systems for generating 3D models. A first point cloud of data for an object may be generated based on boundary information obtained by the object boundary detector(s). Dimensions for the object may be determined based on the first point cloud of data. A second point cloud of data may be generated based on the dimensions for the object and a configuration of light projectors where the second point cloud corresponds to potential coordinates for a location where the robotic member and end effector can be positioned along a path around the object to capture the image data of the object. A path may be generated to avoid collision between the object and the robotic member or end effector while optimizing the number of capture location points within the second point cloud of data.
Claims20
A robotic gantry system for generating a 3D model of an object comprising:
- a first set of light projectors configured to emit light on the object within a volume space of the robotic gantry system, the first set of light projectors associated with the robotic gantry system in a first configuration;
- at least one object boundary detector configured to capture boundary information about the object within the volume of space of the robotic gantry system, the at least one object boundary detector associated with the robotic gantry system in a second configuration;
- a robotic member configured to move within the volume of space of the robotic gantry system and comprising:
- an end effector that includes at least one photogrammetry sensor and at least one depth sensor;
- and
- a computer system configured to:
- generate a first point cloud of data for the object based at least in part on the boundary information;
- determine an object volume for the object that represents a relative distance from the object to the robotic gantry system and dimensions for the object based at least in part on the boundary information;
- generate a second point cloud of data based at least in part on the object volume and the first configuration of the first set of light projectors, the second cloud of data corresponding to potential coordinates for a location where the robotic member and end effector can be positioned along a path around the object to capture image information for the object;
- identify a first subset of data points of the second point cloud of data based at least in part on the second point cloud of data and the object volume for the object, the first subset of data points representing at least one path that would cause a collision between the robotic member or the end effector, and the object;
- identify a second subset of data points of the second point cloud of data based at least in part on the second point cloud of data, the first subset of data points, and the first configuration of the first set of light projectors, wherein data points of the second subset of data points represent at least one potential path of the robotic member and the end effector that would not cause a collision between the object and the robotic member or end effector;
- generate instructions to move the robotic arm in accordance with the at least one potential path within the volume of space of the robotic gantry system around the object to capture the image information for the object based at least in part on the second subset of data points;
- and
- generate the 3D model of the object based at least in part on the image information.
11 more elements
A method of generating a 3D model, comprising:
- generating a first point cloud of data for an object based at least in part on boundary information obtained by at least one object boundary detector of an image capture system;
- determining dimensions and a location of the object within the image capture system based at least in part on the first point cloud of data;
- generating a second point cloud of data based at least in part on the determined dimensions and the location of the object and a first configuration of light projectors of the image capture system, the second point cloud of data corresponding to potential coordinates for a location where a robotic member and associated end effector of the image capture system can be positioned along a path around the object to capture image information for the object;
- determining a first subset of data points of the second point cloud of data that represent at least one collision path that, if followed by the robotic member, would cause a collision between the object and the robotic member or the end effector, based at least in part on the second point cloud of data and the determined dimensions and the location of the object;
- determining, based at least in part on the first subset of data points and the first configuration of light projectors, a second subset of data points of the second point cloud of data that represent at least one potential path of the robotic member and the associated end effector of the image capture system that would not cause a collision between the object and the robotic member or the end effector when capturing the image information for the object;
- and
- generating instructions to move the robotic member and the end effector in accordance with the at least one potential path to capture the image information for the object.
4 more elements
A computer-implemented method for generating a 3D model, comprising:
- generating, by a computer system, a first point cloud of data for an object based at least in part on boundary information obtained by at least one object boundary detector of an image capture system;
- determining, by the computer system, dimensions and a location of the object within the image capture system based at least in part on the first point cloud of data;
- generating, by the computer system, a second point cloud of data based at least in part on the determined dimensions and the location of the object and a first configuration of light projectors of the image capture system, the second point cloud of data corresponding to potential coordinates for a location where a robotic member and associated end effector of the image capture system can be positioned along a path around the object to capture image information for the object;
- determining, by the computer system, a first subset of data points of the second point cloud of data that represent at least one collision path that, if followed by the robotic member, would cause a collision between the object and the robotic member or the end effector, based at least in part on the second point cloud of data and the determined dimensions and the location of the object;
- determining, by the computer system and based at least in part on the first subset of data points and the first configuration of light projectors, a second subset of data points of the second point cloud of data that represent at least one potential path of the robotic member and the associated end effector of the image capture system that would not cause a collision between the object and the robotic member or the end effector when capturing the image information for the object;
- and
- generating, by the computer system, instructions to move the robotic member and the end effector in accordance with the at least one potential path to capture the image information for the object.
4 more elements
Dependencies are inferred from the claim text.