Posture positioning system for machine and the method thereof
AssigneeIndustrial Technology Research Institute
InventorsChih-Hsuan Shih, Kuang-Yu Wu, Shang-Kun Li, Shu Huang
Life of this patent
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Abstract
A posture positioning system for machine and the method thereof are provided. The system mainly consists of at least a depth camera mount on a robot to scan points of cloud of the machine, and a processing unit to apply an algorithm with the points of cloud and a contour vector file of the machine to obtain a transfer relationship. The processing unit further obtains a spatial relationship by a matrix calculation with the transfer relationship and a position relationship which exists between the robot and the depth camera. A route generating module of the processing unit generates, if needed, a moving route for the robot according to the spatial relationship.
Claims13
A posture positioning system for machine, adapted to be applied on a robot, comprising:
- at least an imaging unit, configured to obtain a depth information of a machine, the machine comprises a pipe polishing machine, wherein the imaging unit is mounted on the robot to scan the depth information of the machine:
- and
- a processing unit, configured to receive the depth information and then apply an algorithm using the depth information and a vector information of the machine to obtain a transfer relationship, and to calculate and obtain a spatial relationship basing based upon the transfer relationship and a position relationship;
- wherein the vector information is a 3D computer graphic of the machine;
- wherein the depth information is a 3D color point cloud of the machine, a 3D spatial-depth information of the machine, or a 3D mesh:
- and
- wherein the spatial relationship is calculated using a position relation between the robot and the imaging unit for matching a realistic partial 3D point cloud of the machine with the 3D computer graphic of the machine.
A posture positioning method for machine, adapted to be applied on a robot while being executed by a processing unit, comprising the steps of:
- receiving a depth information of a machine that is obtained by the use of an imaging unit mounted on the robot to scan the depth information of the machine, the machine comprises a pipe polishing machine:
- applying an algorithm using the depth information and a vector information of the machine to obtain a transfer relationship;
- obtaining a spatial relationship basing based upon the transfer relationship and a position relationship;
- wherein the vector information is a 3D computer graphic of the machine;
- wherein the depth information is a 3D color point cloud of the machine, a 3D spatial-depth information of the machine, or a 3D mesh:
- and
- wherein the spatial relationship is calculated using a position relation between the robot and the imaging unit for matching a realistic partial 3D point cloud of the machine with the 3D computer graphic of the machine.
Dependencies are inferred from the claim text.