Controlling a robot in an environment

Patent metadata

Field	Value
Publication number	US-11364635-B2
Application number	US-201916270877-A
Country	US
Kind code	B2
Filing date	Feb 8, 2019
Priority date	Feb 28, 2018
Publication date	Jun 21, 2022
Grant date	Jun 21, 2022

Abstract

There is provided a method of controlling a robot within an environment comprising: i) receiving, from a 3D scanner, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least a portion of the environment; ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the robot; then iii) determining a movement trajectory for the robot based upon the determined position of the robot. Also provided is a control apparatus and a robot control system.

First claim

We claim:

1. A method of controlling a robot within an environment comprising:
i) receiving, from a 3D scanner mounted on a multi-degree of freedom arm of the robot, data relating to at least a portion of the environment for constructing a 3D point cloud representing at least the portion of the environment;
ii) comparing the 3D point cloud to a virtual 3D model of the environment and, based upon the comparison, determining a position of the 3D scanner, and, based on the determined position of the 3D scanner, determining a position of an end effector attached to the multi-degree of freedom arm;
iii) determining a movement trajectory for the robot based upon the determined position of the end effector; and
iv) controlling movement of the robot on the movement trajectory.

2. The method as claimed in claim 1 , wherein:
the receiving step comprises receiving, from the 3D scanner, data relating to at least the portion of the environment for constructing the 3D point cloud representing at least the portion of the environment; and
the comparing step comprises comparing the 3D point cloud to the 3D model and, based upon the comparison, determining the position of the robot 3D scanner within the environment and determining the position of the robot based upon the determined position of the 3D scanner.

3. The method as claimed in claim 1 , wherein the 3D scanner is a support 3D scanner provided on a support robot.

4. The method as claimed in claim 3 , wherein:
the receiving step comprises receiving, from the support 3D scanner, data relating to the robot and at least a portion of the environment for constructing a 3D point cloud representing the robot and at least a portion of the environment; and
the comparing step comprises comparing the 3D point cloud to the 3D model and, based upon the comparison, determining the position of the support 3D scanner within the environment and determining the position of the robot based upon the determined position of the support 3D scanner.

5. The method as claimed in claim 1 , wherein the method further comprises:
receiving, from each of one or more 3D scanners located within the environment, data relating to at least a portion of the environment for constructing a respective calibrating 3D point cloud of the environment, and
calibrating the one or more 3D scanners by comparing the one or more calibrating 3D point clouds to the 3D model and, based upon the comparison, determining the position of each of the one or more 3D scanners within the environment.

6. The method as claimed in claim 1 , further comprising:
defining a target location within the environment,
wherein determining the position of the end effector further comprises determining the position of the end effector relative to the target location.

7. The method as claimed in claim 6 , wherein, if it is determined that the end effector is not at the target location, the movement trajectory of the end effector is determined so as to reduce the distance between the end effector and the target location.

8. The method as claimed in claim 6 , wherein, if it is determined that the end effector is at the target location or in a working position proximate the target location, the movement trajectory comprises maintaining a position of the end effector or generating a robot operation trajectory for performing an operation at the target location.

9. The method as claimed in claim 1 , wherein the virtual 3D model comprises a plurality of virtual landmarks corresponding to real-world landmarks in the environment and wherein comparing the 3D point cloud to the 3D model comprises comparing the 3D point cloud to the virtual landmarks to identify any features in the 3D point cloud which correspond to virtual landmarks.

10. The method as claimed in claim 1 , further comprising iterating steps i)-iv) to thereby incrementally navigate the robot within the environment.

11. The method as claimed in claim 1 , further comprising generating the virtual 3D model of the environment by:
a) controlling scanning of the environment and generating a 3D model of the environment based upon the scanning; and/or
b) receiving CAD data relating to a CAD model of one or more components forming the environment and generating a 3D model of the environment based upon the received CAD data.

12. A method of performing a maintenance operation in a gas turbine engine comprising controlling the robot according to claim 1 , wherein:
the robot is a scope tip robot;
the environment is a confined space within the gas turbine engine; and
the target location is a component of the gas turbine engine to be maintained.

13. A non-transitory computer-readable medium containing computer-readable instructions that, when read by a computer, cause performance of the method of claim 1 .

14. A control apparatus configured to perform the method of claim 1 .

15. A robot control system comprising the robot and the control apparatus according to claim 14 .

Assignees

• Rolls Royce Plc

Inventors

• Kell James
• Nasser Bilal M
• Rabani Amir

Classifications

• B25J9/1625

  Truss-manipulator for snake-like motion · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G05B2219/40613

  Camera, laser scanner on end effector, hand eye manipulator, local · CPC title

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title