WO2025017351 - PRECISE PLACEMENT BASED ON ON-THE-FLY OBJECT POSE ESTIMATION
National phase entry is expected:
Publication Number
WO/2025/017351
Publication Date
23.01.2025
International Application No.
PCT/IB2023/057334
International Filing Date
18.07.2023
Title **
[English]
PRECISE PLACEMENT BASED ON ON-THE-FLY OBJECT POSE ESTIMATION
[French]
PLACEMENT PRÉCIS BASÉ SUR UNE ESTIMATION DE POSE D'OBJET À LA VOLÉE
Applicants **
ABB SCHWEIZ AG
Inventors
CHEN, Yi
WANG, Jianjun
ZHANG, Biao
LIU, Haoyan
ARTIGAS, Jordi
Application details
| Total Number of Claims/PCT | * |
| Number of Independent Claims | * |
| Number of Priorities | * |
| Number of Multi-Dependent Claims | * |
| Number of Drawings | * |
| Pages for Publication | * |
| Number of Pages with Drawings | * |
| Pages of Specification | * |
| * | |
| Number of Office Actions | * |
| * | |
International Searching Authority |
EPO
* |
| Recordal of a Change of the Applicant's Name/Address |
Change of Applicant's Name and Address
* |
| Type of Assignment |
The Standard Agent's Assignment
* |
| Applicant's Legal Status |
Legal Entity
* |
| * | |
| * | |
| * | |
| * | |
| * | |
| Entry into National Phase under |
Chapter I
* |
| Patent Delivery |
Send the Letters Patent by Courier
* |
| Translation |
|
* The data is based on automatic recognition. Please verify and amend if necessary.
** IP-Coster compiles data from publicly available sources. If this data includes your personal information, you can contact us to request its removal.
Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing, Examination, Granting | 2140 | |
| EPO | Filing, Examination, Granting | 10823 | |
| Japan | Filing, Examination, Granting | 2337 | |
| South Korea | Filing, Examination, Granting | 2258 | |
| USA | Filing, Examination, Granting | 6540 |
Total:
24,098
The term for entry into the National Phase has expired. This quotation is for informational purposes only
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Abstract[English]
A method is provided for controlling a robot comprising a plurality of joints. The method comprises moving the robot from a first workspace to a second workspace based on controlling a first joint to rotate the robot along a fixed base, wherein the robot holds an object corresponding to a first tool center point (TCP); obtaining one or more images of the object while the robot is moving, using an image capturing device that moves along with the first joint of the robot; determining a second TCP based on the one or more images; controlling one or more other joints of the robot to adjust the object held by the robot according to the second TCP; and placing the object at a target location of the second workspace according to a refined TCP based on the adjustment result converging to a predetermined reference.[French]
La présente invention concerne un procédé de commande d'un robot comprenant une pluralité d'articulations. Le procédé comprend les étapes consistant à déplacer le robot d'un premier espace de travail à un second espace de travail sur la base de la commande d'une première articulation pour mettre en rotation le robot le long d'une base fixe, le robot maintenant un objet correspondant à un premier point central d'outil (TCP) ; obtenir une ou plusieurs images de l'objet pendant que le robot se déplace, à l'aide d'un dispositif de capture d'image qui se déplace conjointement avec la première articulation du robot ; déterminer un second TCP sur la base de la ou des images ; commander une ou plusieurs autres articulations du robot pour ajuster l'objet tenu par le robot selon le second TCP ; et placer l'objet à un emplacement cible du second espace de travail selon un TCP affiné sur la base du résultat de réglage convergeant vers une référence prédéfinie.