US 12,708,955 B2 · Scan planning and scan operations for welding an object

Abstract

Disclosed are systems, methods, and apparatuses, including computer programs encoded on computer storage media, for operation of an assembly robotic system. In one aspect, the assembly robotic system performs at least one of a first or second scan operation. In the first scan operation, one or more scan poses is selected from among a plurality of generated candidate poses. For each scan pose of the one or more scan poses, the controller initiates a scan operation associated with a region identified to include a seam associated with a feature of the object. As part of the second scan operation, for each candidate scan pose, a scan operation is simulated. Based on the generated simulated scan data, multiple scan poses are selected and a scan trajectory is generated for a scan operation. Other aspects and features are also claimed and described.

Claims21

Dependent claims

An assembly robotic system configured to scan an object to be welded, the assembly robotic system comprising:

a controller that includes one or more processors and one or more memories coupled to the one or more processors, the controller configured to:
identify, based on an object pose of the object, a region associated with a seam of the object, the seam associated with a feature of one or more features of the object;
generate, based on the identified region, one or more candidate poses associated with a scan device, the scan device configured to perform a scan operation in association with the identified region;
select, based on an evaluation of the one or more candidate poses, one or more scan poses;
and
for each scan pose of the one or more scan poses, initiate the scan operation associated with the identified region and performed by the scan device with the scan pose.

3 more elements

A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a controller cause the controller to:

identify, based on an object pose of the object, a region associated with a seam of the object, the seam associated with a feature of one or more features of the object;
generate, based on the identified region, one or more candidate poses associated with a scan device, the scan device configured to perform a scan operation in association with the identified region;
select, based on an evaluation of the one or more candidate poses, one or more scan poses;
and
for each scan pose of the one or more scan poses, initiate the scan operation associated with the identified region and performed by the scan device with the scan pose.

2 more elements

Dependencies are inferred from the claim text.

Scan planning and scan operations for welding an object

Life of this patent

Scan planning and scan operations for welding an object

Life of this patent

Abstract

Claims21