Semi-autonomous multi-use robot system and method of operation

Patent metadata

Field	Value
Publication number	US-9643316-B2
Application number	US-201013503122-A
Country	US
Kind code	B2
Filing date	Oct 27, 2010
Priority date	Oct 27, 2009
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

A semi-autonomous robot system ( 10 ) that includes scanning and scanned data manipulation that is utilized for controlling remote operation of a robot system within an operating environment.

First claim

What is claimed is:

1. A robot system comprising:
a track;
a robot that includes a robot arm having multiple degrees of freedom of movement;
a carriage configured to carry said robot on said track;
a 3D scanner mounted upon an end of said robot arm, said 3D scanner configured to collect environmental data from an operating environment surrounding said robot while said robot remains within a safe working volume; and
an operator station that includes a computer and associated software and is located remotely from said robot arm, said operator station configured to control movement of said robot arm and said carriage;
wherein, in said safe working volume, said robot is configured to translate along said track in a tucked position without colliding with any portion of the operating environment,
wherein said 3D scanner is a laser device configured to gather said environmental data, wherein said computer and associated software is configured to voxelize said scanned data and to utilize said voxelized data to define said operating environment, and wherein said computer and associated hardware is configured to utilize said voxelized data to define movements of said carriage and said robot arm with said operating environment that also avoids collisions between said carriage and said robot arm with said operating environment.

2. The robot system according to claim 1 wherein said computer and associated software is configured to acquire geometrical data regarding the operating environment of said robot, and further wherein said computer and associated software is also configured to utilize said geometrical data to perform operations within said operating environment with virtual tooling.

3. The robot system according to claim 1 wherein said computer and associated hardware are configured to define paths within an enclosed space for moving said robot arm and said carriage such that said 3D scanner is positioned to scan a selected point within said space while also avoiding collision with any of the operating environment defined by said data collected by said 3D scanner.

4. The robot system according to claim 1 wherein said computer and associated hardware is configured to produce continuous trajectories for contour following by first finding a plurality of collision-free candidate solutions and then using standard pseudo-inverse Jacobian control methodology to compute required joint angles and rates to achieve a desired path for an end-effector while also maintaining the proper orientation and path speed.

5. The robot system according to claim 3 further including a digital camera mounted upon said robot arm and a display device, said digital camera and display device configured to provide a pictorial view of the operating environment as an aid to guiding movement of said robot.

6. The robot system according to claim 1 further including multiple computing nodes connected by Ethernet, said nodes spawning multiple threads to determine potential paths for movement of said robot.

7. The robot system according to claim 1 wherein said robot arm is configured to carry at least one tool.

8. The robot system according to claim 7 wherein said operating environment defines a non-enclosed space.

9. The robot system according to claim 7 wherein said operating environment defines an enclosed space.

10. A method for operating a robot system that comprises the steps of:
providing a robot system that includes: a robot arm having multiple degrees of freedom of movement; a carriage configured to carry the robot; a 3D scanner mounted upon an end of the robot arm; and an operator station located remotely from the robot arm, the operator station configured to control movement of the robot arm and the carriage;
collecting 3D scanned data with the 3D scanner regarding an operating environment surrounding the robot while the robot remains within a safe working volume;
using the 3D scanned data to form an operating environment mesh that represents the operating environment;
selecting a desired position on the operating environment mesh;
determining a path for moving the robot and the carriage that avoids any collisions between the robot, the 3D scanner and the operating environment such that the 3D scanner is positioned to scan the selected desired position; and
moving the robot and the carriage via the determined path,
wherein, in said safe working volume, the robot is configured to translate along the track in a tucked position without the robot, said 3D scanner, or said carriage colliding with any portion of the operating environment.

11. The method according to claim 10 wherein the operator station includes a display screen in communication with a mouse with the display screen displaying a cursor controlled by the mouse and further wherein the selection of a desired position on the operating environment mesh includes using the mouse to position a cursor upon the display screen at the selected desired position for the robot and then depressing a button on the mouse to notify the operator station of the selected desired position for the robot.

12. The method according to claim 10 further including determining a desired configuration of the robot arm and desired position of the carriage along the track and determining a path for moving the robot and the carriage to their desired positions without incurring any collisions between portions of said robot, and between said robot arm, said 3D scanner, and said operating environment.

13. The method according to claim 12 wherein the robot performs a desired operation once the carriage and robot arm have moved to the desired positions.

14. The method according to claim 10 wherein the collected 3D scanned data is voxelized to define the operating environment, and wherein the computer and associated hardware is configured to utilize the voxelized data to determine the paths of the robot arm and the carriage that avoids any collisions between the robot, the 3D scanner, and the operating environmenth.

15. The method according to claim 10 wherein the operator station includes a computer and associated software that is configured to use a Rapidly-exploring Random Tree (RRT) motion planning algorithm in combination with the 3D data gathered with the 3D scanner to control movement of the robot arm and the carriage within an enclosed area.

16. The method according to claim 10 wherein a digital camera is used to create a pseudo-photorealistic 3D model by registering data from said digital camera with the 3D scanned data from said 3D scanner.

17. The method according to claim 11 wherein the robot arm is configured to carry a tool, and wherein the selection of a desired position on the operating environment mesh includes using the mouse to click and drag across the virtual geometry to create a region for robotic processing whereby a coverage trajectory is calculated to cause the tool to maintain a prescribed offset from portions of said operating environment mesh while following the contour of said mesh.

18. The method according to claim 11 wherein the robot arm is configured to carry a tool.

19. The robot system according to claim 1 wherein said computer and associated software is configured to use a motion planning algorithm in combination with said environmental data collected with said 3D scanner to control movement of said robot arm and said carriage within said operating environment.

20. A robot system comprising:
a track;
a robot that includes a robot arm having multiple degrees of freedom of mov

Assignees

• Krasny Darren P
• Shoaf Richard L
• Keip Jeffrey D
• Newhouse Scott A
• Lastrapes Timothy J
• Battelle Memorial Institute

Inventors

• Krasny Darren P
• Shoaf Richard L
• Keip Jeffrey D
• Newhouse Scott A
• Lastrapes Timothy J

Classifications

• G05B2219/40418

  Presurgical planning, on screen indicate regions to be operated on · CPC title

• G05B2219/40183

  Tele-machining · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• G05B2219/40424

  Online motion planning, in real time, use vision to detect workspace changes · CPC title