EP3972787A4 - Vision robotique - Google Patents

Vision robotique Download PDF

Info

Publication number
EP3972787A4
EP3972787A4 EP20861193.9A EP20861193A EP3972787A4 EP 3972787 A4 EP3972787 A4 EP 3972787A4 EP 20861193 A EP20861193 A EP 20861193A EP 3972787 A4 EP3972787 A4 EP 3972787A4
Authority
EP
European Patent Office
Prior art keywords
robotic vision
robotic
vision
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20861193.9A
Other languages
German (de)
English (en)
Other versions
EP3972787A1 (fr
Inventor
Philipp Schoessler
Thibault Neveu
Dane Mason
Kathleen Sofia Hajash
Brian Thomas Harms
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/792,009 external-priority patent/US11433545B2/en
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP3972787A1 publication Critical patent/EP3972787A1/fr
Publication of EP3972787A4 publication Critical patent/EP3972787A4/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39017—Forward calibration, find actual pose world space for given joint configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39393—Camera detects projected image, compare with reference image, position end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39397—Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
EP20861193.9A 2019-09-03 2020-06-01 Vision robotique Pending EP3972787A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962895310P 2019-09-03 2019-09-03
US16/792,009 US11433545B2 (en) 2019-02-17 2020-02-14 Robotic vision
PCT/KR2020/007081 WO2021045350A1 (fr) 2019-09-03 2020-06-01 Vision robotique

Publications (2)

Publication Number Publication Date
EP3972787A1 EP3972787A1 (fr) 2022-03-30
EP3972787A4 true EP3972787A4 (fr) 2022-07-27

Family

ID=74853400

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20861193.9A Pending EP3972787A4 (fr) 2019-09-03 2020-06-01 Vision robotique

Country Status (2)

Country Link
EP (1) EP3972787A4 (fr)
WO (1) WO2021045350A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12070857B2 (en) 2022-03-21 2024-08-27 Intrinsic Innovation Llc Robot programming

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018236753A1 (fr) * 2017-06-19 2018-12-27 Google Llc Prédiction de saisie robotique au moyen de réseaux neuronaux et d'une représentation d'objet sensible à la géométrie

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2661538T3 (es) * 2013-06-12 2018-04-02 Otto Bock Healthcare Gmbh Control de dispositivo de extremidad
US9327406B1 (en) * 2014-08-19 2016-05-03 Google Inc. Object segmentation based on detected object-specific visual cues
JP6548422B2 (ja) * 2015-03-27 2019-07-24 キヤノン株式会社 情報処理装置、情報処理方法、プログラム
US9687983B1 (en) * 2016-05-11 2017-06-27 X Development Llc Generating a grasp pose for grasping of an object by a grasping end effector of a robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018236753A1 (fr) * 2017-06-19 2018-12-27 Google Llc Prédiction de saisie robotique au moyen de réseaux neuronaux et d'une représentation d'objet sensible à la géométrie

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
BOHG JEANNETTE ET AL: "Robot arm pose estimation through pixel-wise part classification", 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 31 May 2014 (2014-05-31), pages 3143 - 3150, XP032650930, DOI: 10.1109/ICRA.2014.6907311 *
See also references of WO2021045350A1 *

Also Published As

Publication number Publication date
EP3972787A1 (fr) 2022-03-30
WO2021045350A1 (fr) 2021-03-11

Similar Documents

Publication Publication Date Title
EP3906538A4 (fr) Dispositifs robotiques
EP3919411A4 (fr) Robot de transfert
EP3888518A4 (fr) Robot de nettoyage
EP4007679A4 (fr) Manipulateurs robotisés
EP3962338A4 (fr) Robot nettoyeur
EP3979887A4 (fr) Appareil de nettoyage robotique
EP4070643A4 (fr) Robot agricole
EP3893709A4 (fr) Robot nettoyeur
EP3827937A4 (fr) Robot comprenant un bras de robot
EP4004971A4 (fr) Appareil de vision intégré à un robot
EP3777630A4 (fr) Robot nettoyeur
EP3835007A4 (fr) Système de robot
EP4010151A4 (fr) Configuration de dispositif robotique
EP3856381A4 (fr) Robot doté de jambes
EP4003119A4 (fr) Robot nettoyeur
EP3797663A4 (fr) Robot de nettoyage
EP3763602A4 (fr) Véhicule de chantier
EP4046756A4 (fr) Robot à articulations multiples
EP3993686A4 (fr) Robot nettoyeur
EP4003123A4 (fr) Robot nettoyeur
EP3943245A4 (fr) Dispositif de préhension de type à préhension externe
EP3848164A4 (fr) Système de robot
EP3763274A4 (fr) Robot de nettoyage
EP4065456A4 (fr) Robot d'amarrage
EP4005455A4 (fr) Robot nettoyeur

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211221

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

A4 Supplementary search report drawn up and despatched

Effective date: 20220623

RIC1 Information provided on ipc code assigned before grant

Ipc: B25J 9/16 20060101AFI20220617BHEP

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)