公开(公告)号：WO2017087521A1

公开(公告)日：2017-05-26

申请号：PCT/US2016/062279

申请日：2016-11-16

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor

Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor

IPC: G06T7/00

CPC classification number: B25J9/1687 ,  B25J9/1697 ,  G05B2219/34165 ,  G05B2219/37563 ,  G05B2219/40425 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20061

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

Abstract translation: 便于将机器人定位在环境中的三维视觉伺服。 获得环境场景的三维点云数据，该场景包括特征。 三维点云数据被转换成二维图像，并且基于二维图像来识别特征的三维位置。 然后提供所识别的特征的三维位置的指示。

公开(公告)号：WO2017087519A1

公开(公告)日：2017-05-26

申请号：PCT/US2016/062277

申请日：2016-11-16

Applicant: ABB SCHWEIZ AG ,  WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor ,  BOCA, Remus ,  FULBRIGGE, Thomas

Inventor： WANG, Jianjun ,  ZHANG, Biao ,  MARTINEZ, Carlos ,  MORATO, Carlos, Winsor ,  BOCA, Remus ,  FULBRIGGE, Thomas

IPC: E21B7/00 ,  G05D1/00 ,  G05D1/02 ,  G06F7/00

CPC classification number: H04N13/204 ,  E21B7/022 ,  E21D9/006 ,  G05D1/0088

Abstract: Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

Abstract translation: 自动扫描并且表示具有避免碰撞的环境包括例如使用第一扫描路径获得环境的第一表示，基于环境的第一表示来确定第二扫描路径，所述第一表示可操作用于 当获得环境的第二表示时避免与环境的接触，基于第二扫描路径获得环境的第二表示，并且其中环境的第二表示不同于环境的第一表示。 该方法可用于成像和/或代表具有多个间隔开的孔的岩壁，用于接收采矿的费用。