公开(公告)号：US20080069435A1

公开(公告)日：2008-03-20

申请号：US11857680

申请日：2007-09-19

申请人： Remus Boca ,  Simona Pescaru ,  Jeffrey Beis ,  Babak Habibi

发明人： Remus Boca ,  Simona Pescaru ,  Jeffrey Beis ,  Babak Habibi

IPC分类号： G06K9/00

CPC分类号： G01B11/25 ,  G01S17/875

摘要： Briefly described, one embodiment determines pose of an object of interest at a run time by capturing a first image of a first structured light pattern projected onto a first local surface of the object of interest; determining a first run-time data set from the captured first image, wherein the first run-time data set corresponds to information determined from the first structured light pattern projected onto the first local surface; comparing the determined first run-time data set and a corresponding first reference data set, the first reference data set corresponding to an ideal pose of the first local surface on an ideally posed reference object; and determining at least one first degree of constraint that defines a first partial pose of the first local surface, the at least one first degree of constraint based upon the comparison of the first run-time data set with the corresponding first reference data set.

摘要翻译： 简要描述，一个实施例通过捕获投射到感兴趣对象的第一局部表面上的第一结构化光图案的第一图像，在运行时确定感兴趣对象的姿态; 从所捕获的第一图像确定第一运行时数据集，其中所述第一运行时数据集对应于从投射到所述第一局部表面上的所述第一结构光图案确定的信息; 将所确定的第一运行时数据集和对应的第一参考数据集进行比较，所述第一参考数据集对应于理想姿势的参考对象上的第一局部表面的理想姿势; 以及基于所述第一运行时数据集与所述对应的第一参考数据集的比较来确定定义所述第一局部表面的第一部分姿态的所述至少一个第一约束度，所述至少一个第一约束度。

公开(公告)号：US20060088203A1

公开(公告)日：2006-04-27

申请号：US11183228

申请日：2005-07-14

申请人： Remus Boca ,  Babak Habibi ,  Mohammad Sameti ,  Simona Pescaru

发明人： Remus Boca ,  Babak Habibi ,  Mohammad Sameti ,  Simona Pescaru

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G06T7/593 ,  G06T7/74 ,  G06T7/75 ,  G06T7/80

摘要： A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the resulting images. A set of equations is set up exploiting invariant physical relationships between features such as constancy of distances, angles, and areas or volumes enclosed by or between features. The set of equations may be solved to estimate a 3D pose. The number of positions may be determined based on the number of image sensors, number of features identified, and/or number of known physical relationships between less than all features. Knowledge of physical relationships between image sensors and/or between features and image sensors may be employed. A robot path may be transformed based on the pose, to align the path with the target object.

摘要翻译： 系统和方法便于机器视觉，例如使用一个或多个图像传感器在一个或多个位置处获取目标对象的图像的目标对象的三维姿态估计，以及识别所产生的目标对象的特征 图片。 建立一组方程，利用诸如距离的恒定性，角度以及特征之间或之间的区域或体积等特征之间的不变物理关系。 可以求解该方程组以估计3D姿态。 可以基于图像传感器的数量，识别的特征数量和/或小于所有特征之间的已知物理关系的数量来确定位置数量。 可以采用图像传感器之间和/或特征和图像传感器之间的物理关系的知识。 可以基于姿态来变换机器人路径，以将路径与目标对象对准。

公开(公告)号：US20100092032A1

公开(公告)日：2010-04-15

申请号：US12249658

申请日：2008-10-10

申请人： Remus Boca

发明人： Remus Boca

IPC分类号： G06K9/00 ,  H04N5/228 ,  B25J19/04

CPC分类号： B25J9/1697 ,  B25J9/1679 ,  G05B2219/39508 ,  G05B2219/40014

摘要： Vision based systems may select actions based on analysis of images to redistribute objects. Actions may include action type, action axis and/or action direction. Analysis may determine whether an object is accessible by a robot, whether an upper surface of a collection of objects meet a defined criteria and/or whether clusters of objects preclude access.

摘要翻译： 基于视觉的系统可以基于图像的分析来选择动作以重新分配对象。 动作可以包括动作类型，动作轴和/或动作方向。 分析可以确定对象是否可由机器人访问，无论对象集合的上表面是否满足定义的标准，和/或对象集群是否排除访问。

公开(公告)号：US20150328773A1

公开(公告)日：2015-11-19

申请号：US14650112

申请日：2013-12-06

申请人： Remus BOCA ,  Srinivans NIDAMARTHI ,  ABB Technology AG

发明人： Remus Boca ,  Srinivas Nidamarthi

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  B25J9/1671 ,  G05B2219/36248 ,  G05B2219/36504 ,  G05B2219/40425 ,  G05B2219/40515 ,  G05B2219/45065 ,  Y10S901/02 ,  Y10S901/47

摘要： A system for generating a path to be followed by a robot used to perform a process on a workpiece has a computing device that has program code for operating the robot and obtaining information related to the workpiece and a vision system that scans the workpiece to obtain images thereof that are provided to the computing device. The computing device processes the images to obtain geometric information about the workpiece that the computing device uses in combination with process related reference parameters stored in the computing device to generate program code for a path to be followed by the robot to perform the process on the workpiece. The computing device also includes code configured to verify for quality the generated program code for the path to be followed by the robot to perform the process on the workpiece.

摘要翻译： 用于生成用于在工件上执行处理的机器人遵循的路径的系统具有计算装置，其具有用于操作机器人的程序代码并获得与工件相关的信息以及扫描工件以获得图像的视觉系统 被提供给计算设备。 计算设备处理图像以获得关于计算设备使用的工件的几何信息，并结合存储在计算设备中的过程相关的参考参数，以生成机器人遵循的路径来执行工件上的过程的程序代码 。 计算设备还包括被配置为验证生成的程序代码的代码，用于机器人遵循的路径在工件上执行处理。

公开(公告)号：US20100017033A1

公开(公告)日：2010-01-21

申请号：US12176190

申请日：2008-07-18

申请人： Remus Boca

发明人： Remus Boca

IPC分类号： G06F19/00

CPC分类号： B25J13/06 ,  B25J9/0093 ,  B25J19/023

摘要： Robotic systems and methods employ at least some communications between peripheral controllers, for example vision controller, conveyor controller, camera controller and/or inspection controller, that is independent of a robot controller or robot motion controller. Such may include a parallel communications path.

摘要翻译： 机器人系统和方法在外围控制器（例如视觉控制器，输送机控制器，照相机控制器和/或检查控制器）之间至少采用一些通信，其独立于机器人控制器或机器人运动控制器。 这样可以包括并行通信路径。

公开(公告)号：US09682480B2

公开(公告)日：2017-06-20

申请号：US14649160

申请日：2013-12-03

申请人： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

发明人： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

摘要： A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

公开(公告)号：US08559699B2

公开(公告)日：2013-10-15

申请号：US12249658

申请日：2008-10-10

申请人： Remus Boca

发明人： Remus Boca

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  B25J9/1679 ,  G05B2219/39508 ,  G05B2219/40014

摘要： Vision based systems may select actions based on analysis of images to redistribute objects. Actions may include action type, action axis and/or action direction. Analysis may determine whether an object is accessible by a robot, whether an upper surface of a collection of objects meet a defined criteria and/or whether clusters of objects preclude access.

摘要翻译： 基于视觉的系统可以基于图像的分析来选择动作以重新分配对象。 动作可以包括动作类型，动作轴和/或动作方向。 分析可以确定对象是否可由机器人访问，无论对象集合的上表面是否满足定义的标准，和/或对象集群是否排除访问。

公开(公告)号：US10406686B2

公开(公告)日：2019-09-10

申请号：US14652111

申请日：2013-12-13

申请人： Remus Boca ,  Srinivas Nidamarthi ,  Thomas A. Fuhlbrigge

发明人： Remus Boca ,  Srinivas Nidamarthi ,  Thomas A. Fuhlbrigge

IPC分类号： B25J9/16

摘要： A system for generating instructions for operating a robot to perform work on a workpiece has a 3D model or models of a robot scene that provides robot scene data. The system also has data of one or both hands of a gesture made with the one or both hands and a computation device that has program code configured to process the robot scene data and the gesture data to generate an instruction to operate the robot.

公开(公告)号：US20150314447A1

公开(公告)日：2015-11-05

申请号：US14649160

申请日：2013-12-03

申请人： Biao ZHANG ,  Jianjun WANG ,  George Q. ZHANG ,  Sangeun CHOI ,  Remus BOCA ,  Thomas A. FUHLBRIGGE ,  Thomas GROTH

发明人： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

IPC分类号： B25J9/16

CPC分类号： B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

摘要： A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.

摘要翻译： 机器具有远离控制站的至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 在机器位置处的控制器具有程序代码，其被配置为从机器位置的一个或多个传感器的数据确定机器是否在机器执行其预定功能时发生实际故障并确定实际故障 或更多类型的故障，并将一个或多个故障类型传输到控制站进行分析。 控制器中的代码被配置为特定于机器功能的预编程陷阱程序，在机器位置检测到机器操作错误时自动执行。 控制器还具有默认的陷阱程序，当特定例程不存在时，它将被执行。