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11. 发明申请

WO2008036354A1 SYSTEM AND METHOD OF DETERMINING OBJECT POSE 审中-公开
标题翻译：系统和方法确定对象的位置
公开(公告)号：WO2008036354A1
公开(公告)日：2008-03-27
申请号：PCT/US2007/020365
申请日：2007-09-19
申请人： BRAINTECH CANADA, INC. , ABRAMONTE, Frank , BOCA, Remus, F. , PESCARU, Simona Liliana , BEIS, Jeffrey Scott , HABIBI, Babak
发明人： BOCA, Remus, F. , PESCARU, Simona Liliana , BEIS, Jeffrey Scott , HABIBI, Babak
IPC分类号： G01B11/25 , G01B11/00 , G01S17/06
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。

12. 发明申请

WO2006019970A3 METHOD AND APPARATUS FOR MACHINE-VISION 审中-公开
标题翻译：用于机器视觉的方法和设备
公开(公告)号：WO2006019970A3
公开(公告)日：2006-09-08
申请号：PCT/US2005025083
申请日：2005-07-14
申请人： BRAINTECH CANADA INC , ABRAMONTE FRANK , BOCA REMUS , PESCARU SIMONA , HABIBI BABAK , SAMETI MOHAMMAD
发明人： BOCA REMUS , PESCARU SIMONA , HABIBI BABAK , SAMETI MOHAMMAD
IPC分类号： G06T7/00
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 using sparse model information such as the constancy of distances, angles and enclosed volumes 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. A knowledge of physical relationships between various image sensors and/or between features and image sensors may be employed. The pose may be used to transform a robot path, to align the path with a current position of the target object.
摘要翻译：系统和方法利用一个或多个图像传感器来获取机器视觉，例如用于目标物体的三维姿态估计，以获取目标物体在一个或多个位置处的图像，并识别目标物体在所得结果中的特征图片。使用稀疏模型信息建立一组等式，例如距离，角度和特征之间的封闭体积的恒定性。该组方程可以被求解以估计3D姿态。可以基于图像传感器的数量，所标识的特征的数量和/或少于所有特征之间的已知物理关系的数量来确定位置的数量。可以采用各种图像传感器之间和/或特征与图像传感器之间的物理关系的知识。该姿态可用于变换机器人路径，以将路径与目标对象的当前位置对齐。

13. 发明申请

WO2006019970A2 METHOD AND APPARATUS FOR MACHINE-VISION 审中-公开
标题翻译：机器视觉方法与装置
公开(公告)号：WO2006019970A2
公开(公告)日：2006-02-23
申请号：PCT/US2005/025083
申请日：2005-07-14
申请人： BRAINTECH CANADA, INC. , ABRAMONTE, Frank , BOCA, Remus , PESCARU, Simona , HABIBI, Babak , SAMETI, Mohammad
发明人： BOCA, Remus , PESCARU, Simona , HABIBI, Babak , SAMETI, Mohammad
IPC分类号： G06T7/00
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 using sparse model information such as the constancy of distances, angles and enclosed volumes 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. A knowledge of physical relationships between various image sensors and/or between features and image sensors may be employed. The pose may be used to transform a robot path, to align the path with a current position of 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。使用诸如距离的恒定性，特征之间的角度和封闭体积的稀疏模型信息来建立一组方程。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。可以采用关于各种图像传感器之间和/或特征和图像传感器之间的物理关系的知识。姿势可以用于变换机器人路径，以将路径与目标对象的当前位置对齐。

14. 发明申请

WO2020142495A1 MULTIPLE ROBOT AND/OR POSITIONER OBJECT LEARNING SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2020142495A1
公开(公告)日：2020-07-09
申请号：PCT/US2019/069077
申请日：2019-12-31
申请人： ABB SCHWEIZ AG , TENG, Zhou , BOCA, Remus , FUHLBRIGGE, Thomas
发明人： TENG, Zhou , BOCA, Remus , FUHLBRIGGE, Thomas , HOLMBERG, Johnny , WAHLSTROM, Magnus
IPC分类号： B25J9/16 , B25J19/02 , G06T7/80
摘要： A robot system includes one or more moveable robots and one or more positioners, along with one or more cameras, which are used in conjunction to image a training or target object. An illumination source such as a light can also be used to illuminate the training or target object. A controller can command the robot(s), camera(s), and illumination source(s) to take a number of training images to assist in building a visual memory. The training process can include any variety of changes in position and/or orientation of the robot(s), positioner(s), and camera(s) as well as changes in illumination intensity, direction, etc. The training dataset can be evaluated against pre-determined images to ascertain the robustness of the trained model.

15. 发明申请

WO2018175914A9 ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开
公开(公告)号：WO2018175914A9
公开(公告)日：2018-09-27
申请号：PCT/US2018/024070
申请日：2018-03-23
申请人： ABB SCHWEIZ AG , ZHANG, Biao , WANG, Jianjun , BOCA, Remus
发明人： ZHANG, Biao , WANG, Jianjun , BOCA, Remus
IPC分类号： G05B15/00 , G05B19/00
摘要： Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

16. 发明申请

WO2018175914A1 ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开
公开(公告)号：WO2018175914A1
公开(公告)日：2018-09-27
申请号：PCT/US2018/024070
申请日：2018-03-23
申请人： ABB SCHWEIZ AG , ZHANG, Biao , WANG, Jianjun , BOCA, Remus
发明人： ZHANG, Biao , WANG, Jianjun , BOCA, Remus
IPC分类号： G05B15/00 , G05B19/00
摘要： Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

17. 发明申请

WO2018145025A1 CALIBRATION ARTICLE FOR A 3D VISION ROBOTIC SYSTEM 审中-公开
公开(公告)号：WO2018145025A1
公开(公告)日：2018-08-09
申请号：PCT/US2018/016898
申请日：2018-02-05
申请人： ABB SCHWEIZ AG , WANG, Jianjun , BOCA, Remus , ZHANG, Biao
发明人： WANG, Jianjun , BOCA, Remus , ZHANG, Biao
IPC分类号： G06T7/00 , B23Q17/00 , G01B3/30 , G01B11/24 , H04N17/00
摘要： A calibration article is provided for calibrating a robot and 3D camera. The calibration article includes side surfaces that are angled inward toward a top surface The robot and camera are calibrated by capturing positional data of the calibration article relative to the robot and the camera. The captured data is used to generate correlation data between the robot and the camera. The correlation data is used by the controller to align the robot with the camera during operational use of the robot and camera.

18. 发明申请

WO2017087406A1 AUTOMATICALLY SCANNING AND REPRESENTING AN ENVIRONMENT HAVING A PLURALITY OF FEATURES 审中-公开
标题翻译：自动扫描和表示具有多种功能的环境
公开(公告)号：WO2017087406A1
公开(公告)日：2017-05-26
申请号：PCT/US2016/062070
申请日：2016-11-15
申请人： ABB SCHWEIZ AG , WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos W. , BOCA, Remus
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos W. , BOCA, Remus
IPC分类号： G06K9/00
CPC分类号： H04N13/204 , G06K9/00201 , G06K9/00791 , G06T7/75 , G06T2207/10016 , G06T2207/10028 , G06T2207/30252 , H04N5/232
摘要： Automatic scanning and representing an environment having a plurality of features, for example, includes scanning the environment along a scanning path, interspersing a plurality of localized scanning of the plurality of features in the environment during the scanning along the scanning path of the environment wherein the interspersed localized scanning of the plurality of features in the environment being different from the scanning the environment along the scanning path, and obtaining a representation of at least a portion of the environment based on the scanning of the environment and the interspersed localized scanning of the plurality of features in the environment.
摘要翻译：例如，自动扫描并且表示具有多个特征的环境包括：沿着扫描路径扫描环境，在扫描期间将多个特征的多个局部扫描散布在环境中环境的扫描路径，其中环境中的多个特征的散布局部扫描不同于沿着扫描路径扫描环境，并且基于环境的扫描获得环境的至少一部分的表示以及散布在环境中的多个特征的局部扫描。

19. 发明申请

WO2017087398A1 FACILITATING ROBOT POSITIONING 审中-公开
标题翻译：帮助机器人定位
公开(公告)号：WO2017087398A1
公开(公告)日：2017-05-26
申请号：PCT/US2016/062059
申请日：2016-11-15
申请人： ABB SCHWEIZ AG , WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, W. , BOCA, Remus
发明人： WANG, Jianjun , ZHANG, Biao , MARTINEZ, Carlos , MORATO, Carlos, W. , BOCA, Remus
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1692 , G06T7/002 , G06T7/004 , G06T7/2086 , G06T7/74 , G06T2200/04 , G06T2207/10028 , G06T2207/30244 , Y10S901/09
摘要： Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.
摘要翻译：通过针对第一采样时间表的每一次获得机器人的相机系统相对于参考坐标系的姿势的相应指示来促进机器人定位，姿势的相应指示所述相机系统的基于环境的场景的多个三维图像的比较的基础上，所述获得提供所述相机系统的姿势的多个指示; 针对第二采样时间表的每个时间，获得机器人的姿势的相应指示，所述获得提供机器人的姿势的多个指示; 以及使用所述相机系统的多个姿势指示和所述机器人的姿势的多个指示来确定所述参考坐标框的指示以及所述相机系统的参考点相对于所述机器人的姿势的指示。

20. 发明申请

WO2020142499A1 ROBOT OBJECT LEARNING SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2020142499A1
公开(公告)日：2020-07-09
申请号：PCT/US2019/069082
申请日：2019-12-31
申请人： ABB SCHWEIZ AG , TENG, Zhou , BOCA, Remus , FUHLBRIGGE, Thomas
发明人： TENG, Zhou , BOCA, Remus , FUHLBRIGGE, Thomas , WAHLSTROM, Magnus , HOLMBERG, Johnny
IPC分类号： B25J13/08 , B25J19/02 , G06K9/62 , G06N3/08 , G06T7/70 , G06T19/00
摘要： A robot system includes a moveable robot and camera useful to image a training or target object. In one form the system also includes a positioner to manipulate the training or target object. An illumination source such as a light can also be used to illuminate the training or target object. A controller can command the robot, camera, and illumination source to take a number of training images to assist in building a visual memory. The training process can include any variety of changes in robot, positioner, and camera orientations/positions as well as changes in illumination intensity, direction, etc. The training dataset can be evaluated against pre-determined images to ascertain the robustness of the trained model.

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