3D Robot Scene Modeling for Collision-Free Object Handling
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Solution Overview
Problem
Current robotic systems face challenges in generating a 3D model of an industrial scene and planning collision-free paths, which are time-consuming and require significant human involvement, leading to potential collisions and inefficiencies in robot operation.
Innovation Solution
A system and method that utilize a 3D vision sensor and control system to automatically generate a 3D model of the industrial scene, allowing the robot to autonomously detect objects and plan collision-free paths in real-time, reducing the need for manual programming and minimizing human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional methods are used to generate 3D models and plan robot paths, then collision-free operation can be achieved, but the process is time-consuming and requires significant human involvement
Solution Approach 1:
The robot system performs self-modeling by autonomously capturing images with integrated vision sensors and generating its own 3D scene models without human intervention. The robot independently plans collision-free paths based on self-acquired spatial data, eliminating the need for manual programming and significantly reducing setup time while maintaining safety
Solution Approach 2:
The system pre-generates 3D scene models and collision-free paths before robot operation begins. By预先 capturing images and constructing spatial models in advance, the robot is prepared for safe autonomous operation from the start, reducing both engineering time and operational risks
2Reliability
If manual programming is used for robot path planning, then collision-free paths can be established, but the process requires significant human involvement and is inefficient
Solution Approach 1:
The patent replaces manual mechanical programming with automated vision-based systems. The robot uses integrated vision sensors to capture images and automatically constructs 3D models, then employs algorithms to generate collision-free paths without human intervention, significantly improving operational efficiency while maintaining safety
Solution Approach 2:
The vision sensor system acts as an intermediary between the robot and its environment. It captures spatial information and translates it into 3D models that the robot uses for autonomous path planning, eliminating the need for direct human programming while ensuring collision-free operation
3Extent of automation
If 3D vision sensors are integrated with robots for real-time scene modeling, then autonomous operation and collision detection are improved, but device complexity increases
Solution Approach 1:
The vision sensor system serves multiple functions: capturing images for 3D model generation, detecting objects and obstacles, and providing spatial data for path planning. This multi-functionality reduces the need for separate specialized components, managing system complexity while enhancing autonomous operation capabilities
Solution Approach 2:
The patent merges the vision sensing system directly with the robot platform, integrating image capture, processing, and path planning functions into a unified system. This consolidation improves automation while managing complexity by eliminating separate standalone components
Data Source
AI summary
A robot is configured to perform a task on an object using a method for generating a 3D model sufficient to determine a collision free path and identify the object in an industrial scene. The method includes determining a predefined collision free path and scanning an industrial scene around the robot. Stored images of the industrial scene are retrieved from a memory and analyzed to construct a new 3D model. After an object is detected in the new 3D model, the robot can further scan the image in the industrial scene while moving along a collision free path until the object is identified at a predefined certainty level. The robot can then perform a robot task on the object.