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1. 发明申请

WO2018063100A2 SYSTEM FOR PLACING OBJECTS ON A SURFACE AND METHOD THEREOF 审中-公开
标题翻译：用于将物体放置在表面上的系统及其方法
公开(公告)号：WO2018063100A2
公开(公告)日：2018-04-05
申请号：PCT/SG2017/050495
申请日：2017-10-02
申请人： ETH SINGAPORE SEC LTD
发明人： FURRER, Jonas Michael , GRAMAZIO, Fabio Matteo , KOHLER, Matthias , ERCAN, Selen
CPC分类号： E04F21/1872 , B25J5/007 , B25J15/0616 , B25J19/023 , E04F21/023 , E04F21/22 , G01B11/25
摘要： A system for placing objects on a surface. The system may include a base, a robotic arm coupled, at an end thereof, to the base, an end effector coupled to the other end of the robotic arm. The end effector may be configured for releaseably coupling to an object to be placed on the surface. The system may further include one or more sensor units on a sensor frame. The one or more sensor units may be configured for sensing a two-dimensional profile data including at least two two-dimensional profiles together comprising at least three boundary portions of the object to be placed and at least three boundary portions of objects on the surface. At least two of the three boundary portions of the object to be placed may be from substantially non-parallel sides. At least two of the three boundary portions of the objects on the surface may be from substantially non-parallel sides. The system may further include a processor configured to determine at least three degrees of freedom of the object to be placed with respect to the sensor frame and six degrees of freedom of the sensor frame with respect to the objects on the surface in a three-dimensional space for determining a current pose of the object to be placed with respect to the objects on the surface based on the two-dimensional profile data. Further, the system may be configured to place the object based on differences between the current pose and a desired pose of the object to be placed determined from a model of objects on the surface in the three-dimensional space.
摘要翻译：
用于将物体放置在表面上的系统。该系统可以包括基座，在其一端连接到基座的机器人臂，连接到机器人臂的另一端的末端执行器。末端执行器可以被配置为可释放地耦合到待放置在表面上的物体。该系统还可以包括传感器框架上的一个或多个传感器单元。所述一个或多个传感器单元可以被配置用于感测包括至少两个二维轮廓的二维轮廓数据，所述二维轮廓一起包括待放置的物体的至少三个边界部分以及所述表面上的物体的至少三个边界部分。要放置的物体的三个边界部分中的至少两个可以来自基本不平行的侧面。物体在表面上的三个边界部分中的至少两个可以来自基本不平行的侧面。该系统还可以包括处理器，该处理器被配置为确定要放置的物体相对于传感器框架的至少三个自由度以及传感器框架相对于三维表面上的物体的六个自由度用于基于所述二维轮廓数据来确定要放置在所述表面上的所述对象的当前姿势的空间。此外，该系统可以被配置成基于当前姿势和要放置的对象的期望姿态之间的差异来放置对象，该姿势根据三维空间中的表面上的对象的模型来确定。

2. 发明申请

WO2018063100A3 SYSTEM FOR PLACING OBJECTS ON A SURFACE AND METHOD THEREOF 审中-公开
公开(公告)号：WO2018063100A3
公开(公告)日：2018-04-05
申请号：PCT/SG2017/050495
申请日：2017-10-02
申请人： ETH SINGAPORE SEC LTD
发明人： FURRER, Jonas Michael , GRAMAZIO, Fabio Matteo , KOHLER, Matthias , ERCAN, Selen
IPC分类号： E04F21/18 , E04F21/22 , G01B11/25 , B25J19/02
摘要： A system for placing objects on a surface. The system may include a base (110), a robotic arm (120) coupled, at an end thereof, to the base (110), an end effector (130) coupled to the other end of the robotic arm (120). The end effector (130) may be configured for releaseably coupling to an object (101) to be placed on the surface. The system may further include one or more sensor units (150) on a sensor frame. The one or more sensor units (150) may be configured for sensing a two-dimensional profile data including at least two two- dimensional profiles together comprising at least three boundary portions of the object (101) to be placed and at least three boundary portions of objects on the surface. At least two of the three boundary portions of the object to be placed may be from substantially non- parallel sides. At least two of the three boundary portions of the objects on the surface may be from substantially non-parallel sides. The system may further include a processor configured to determine at least three degrees of freedom of the object (101) to be placed with respect to the sensor frame and six degrees of freedom of the sensor frame with respect to the objects on the surface in a three- dimensional space for determining a current pose of the object (101) to be placed with respect to the objects on the surface based on the two-dimensional profile data. Further, the system may be configured to place the object (101) based on differences between the current pose and a desired pose of the object to be placed determined from a model of objects on the surface in the three-dimensional space.

3. 发明申请

WO2015034438A1 METHOD OF FABRICATING A 3-DIMENSIONAL STRUCTURE, MESH FORMWORK ELEMENT FOR FABRICATING A 3-DIMENSIONAL STRUCTURE, AND METHOD OF FABRICATING THE SAME 审中-公开
标题翻译：制造三维结构的方法，用于制造三维结构的网格构件元件及其制造方法
公开(公告)号：WO2015034438A1
公开(公告)日：2015-03-12
申请号：PCT/SG2014/000419
申请日：2014-09-04
申请人： ETH SINGAPORE SEC LTD , ETH ZURICH (SWISS FEDERAL INSTITUTE OF TECHNOLOGY ZURICH) , SIKA TECHNOLOGY AG
发明人： HACK, Norman Peter , LAUER, Willi Viktor , GRAMAZIO, Fabio Matteo , KOHLER, Matthias , BLANK, Norman
IPC分类号： E04G9/10 , B28B7/22
CPC分类号： B28B23/005 , B21F27/128 , B25J5/005 , B25J11/00 , B28B23/0006 , B28B23/02 , B29C70/222 , B29C70/26 , B29C70/688 , B29D28/00 , E04B1/16 , E04B1/166 , E04B2/845 , E04B2/8658 , E04G9/065
摘要： Method of fabricating a 3-dimensional structure, mesh formwork element for fabricating a 3-dimensional structure, and method of fabricating the same. The method of fabricating a 3-dimensional structure comprises providing a mesh formwork element such that a cavity bound by at least two opposing portions of the mesh formwork is formed; accumulating a material in the cavity; and allowing the material to harden; wherein apertures in the at least two opposing portions of the mesh formwork element are adapted to the hydro-static pressure of the accumulated material or vice versa such that at least two surfaces of the hardened material substantially take on the respective shapes defined by the two opposing portions of the mesh formwork element.
摘要翻译：制造三维结构的方法，用于制造三维结构的网格模板元件及其制造方法。制造三维结构的方法包括提供网格模板元件，使得形成由网格模板的至少两个相对部分所限定的空腔; 在空腔中积聚材料; 并允许材料硬化; 其中所述网格模板元件的所述至少两个相对部分中的孔适应于所述累积材料的静水压力或反之亦然，使得所述硬化材料的至少两个表面基本上承受由所述两个相对的网格模板元件的一部分。

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