Posture positioning system for machine and the method thereof

Patent metadata

Field	Value
Publication number	US-10540779-B2
Application number	US-201715847089-A
Country	US
Kind code	B2
Filing date	Dec 19, 2017
Priority date	Nov 3, 2017
Publication date	Jan 21, 2020
Grant date	Jan 21, 2020

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.

First claim

What is claimed is:

1. 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.

2. The system of claim 1 , wherein the imaging unit is a depth camera.

3. The system of claim 1 , wherein the processing unit further comprises:
a calculation module, for executing the algorithm;
a storage module, for storing the vector information; and
a route generating module, for generating a moving route for the robot.

4. The system of claim 1 , wherein the position relationship is a position transformation matrix between the imaging unit and a distal end of the robot.

5. The system of claim 1 , wherein the transfer relationship is a position transformation matrix.

6. The system of claim 1 , wherein the spatial relationship is a matrix product of the transfer relationship and the position relationship.

7. The system of claim 1 , wherein the algorithm is an iterative closest point (ICP) algorithm.

8. 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.

9. The method of claim 8 , wherein the position relationship is a position transformation matrix between the imaging unit and a distal end of the robot.

10. The method of claim 8 , wherein the transfer relationship is a position transformation matrix.

11. The method of claim 8 , wherein the spatial relationship is a matrix product of the transfer relationship and the position relationship.

12. The method of claim 8 , wherein the algorithm is an iterative closest point (ICP) algorithm.

13. The method of claim 8 , wherein after obtaining the spatial relationship, the method further comprises the step of:
generating a moving route for the robot according to the spatial relationship.

Assignees

• Ind Tech Res Inst

Inventors

• Shih Chih-Hsuan
• Wu Kuang-Yu
• Li shang-kun
• Huang Shu

Classifications

• H04N23/57

  Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices · CPC title

• G06T7/75 Primary

  involving models · CPC title

• H04N23/54

  Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• H04N13/204

  using stereoscopic image cameras (stereoscopic photography G03B35/00) · CPC title