Back to results
US 12,011,827 B2Granted
Robot teaching with scans in and out of robot workspace
AssigneeScalable Robotics Inc.
InventorsThomas Andrew Fuhlbrigge, Carlos Martinez, Gregory Rossano
Life of this patent
Estimating the term…
Abstract
A system that uses 3D scanning, movable devices, and pose selecting means, either in or outside the robot workspace, in order to create a robot program.
Claims31
A robot teaching system, comprising:
- at least one 3D scanning device;
- a pose-selection device held and manipulated by a user;
- an external axis device having at least one degree of freedom (DOF) for altering a relative position or a relative orientation between a workpiece and the at least one 3D scanning device;
- a computation device;
- and
- a storage device in communication with the computation device, the storage device storing instructions executable by the computation device to:
- cause the at least one 3D scanning device to capture a first 3D scan of the workpiece for one or more of the relative positions or relative orientations while the workpiece is positioned outside of a work area of the robot;
- determine two or more best-fit geometries of the workpiece from the first 3D scan and creating a 3D representation of the workpiece from the two or more best-fit geometries, the two or more best-fit geometries including a plane or cylinder;
- cause the at least one 3D scanning device to track a first pose of the pose-selection device proximal to the workpiece, wherein the first pose is in response to a user input and indicates one or more spatial points;
- project the one or more spatial points to one or more geometric points having a predefined relationship to the 3D representation of the workpiece created from the two or more best-fit geometries;
- and
- define a robot instruction based on the one or more geometric points.
9 more elements
A method for teaching instructions for a robot to perform work on a workpiece, comprising steps of:
- placing the workpiece on an external axis device, having at least one degree of freedom (DOF), outside of a work area of the robot;
- creating a first 3D scan of the workpiece outside of the work area of the robot using at least one 3D scanning device;
- determine two or more best-fit geometries of the workpiece from the first 3D scan, the two or more best-fit geometries including a plane or cylinder;
- creating a 3D representation of the workpiece from the two or more best-fit geometries;
- causing the external axis device to alter a relative position or a relative orientation between the workpiece and the at least one 3D scanning device;
- recording pose information from a pose-selection device held and manipulated by a user;
- creating a second 3D scan of the workpiece using the at least one 3D scanning device;
- computing robot instructions based on the first 3D scan, the pose information, and the second 3D scan;
- and
- controlling the robot based on the robot instructions.
7 more elements
A robot teaching system, comprising:
- at least one 3D scanning device;
- a pose-selection device held and manipulated by a user;
- a computation device;
- and
- a storage device in communication with the computation device, the storage device storing instructions executable by the computation device to:
- cause the at least one 3D scanning device to capture a first 3D scan of a workpiece while the workpiece is positioned outside of a work area of the robot;
- determine two or more best-fit geometries of the workpiece from the first 3D scan, the two or more best-fit geometries including a plane or cylinder;
- cause the at least one 3D scanning device to track a first pose of the pose-selection device proximal to the workpiece, wherein the first pose is in response to a user input and indicates one or more spatial points;
- project the one or more spatial points to one or more geometric points having a predefined relationship to the two or more best-fit geometries;
- and
- define a robot instruction based on the one or more geometric points.
8 more elements
Dependencies are inferred from the claim text.