Patent SG-11201909082T-A (SG)
Title: Systems and methods that improve alignment of a robotic arm to an object
Inventor: LI JUN
IPC: B25J9/10
Filed: 2018-04-02
Abstract: ProcessingUnit Lidar Senso Calibration 166 Regula Surface and Protrus'on Detection 168 Memory 162 Display 164 Sensor 120 150 150 W O 20 18/ 18 25 38 Al Sensor 120 Robotic Arm 130 132 140 Figure 1 (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 04 October 2018 (04.10.2018) W I PO I PCT onion °nolo onoionll 11E111E111# (10) International Publication Number WO 2018/182538 Al (51) International Patent Classification: B25J 9/10 (2006.01) GOTS 17/88 (2006.01) GOOF 19/00 (2018.01) (21) International Application Number: PCT/SG2018/050167 (22) International Filing Date: 02 April 2018 (02.04.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 10201702706P 31 March 2017 (31.03.2017) SG (71) Applicant: AGENCY FOR SCIENCE, TECHNOLO- GY AND RESEARCH [SG/SG]; 1 Fusionopolis Way, #20-10 Connexis North Tower, Singapore 138632 (SG). (72) Inventors: LI, Jun; c/o PKM, Institute for Infocomm Re- search, 1 Fusionopolis Way, #21-01 Connexis (South Tow- er), Singapore 138632 (SG). TEE, Keng Peng; c/o PKM, Institute for Infocomm Research, 1 Fusionopolis Way, #21-01 Connexis (South Tower), Singapore 138632 (SG). WAN, Kong Wah; c/o PKM, Institute for Infocomm Re- search, 1 Fusionopolis Way, #21-01 Connexis (South Tow- er), Singapore 138632 (SG). CHEN, Lawrence Tai Peng; c/o PKM, Institute for Infocomm Research, 1 Fusionopolis Way, #21-01 Connexis (South Tower), Singapore 138632 (SG). YAU, Wei Yun; c/o PKM, Institute for Infocomm Re- search, 1 Fusionopolis Way, #21-01 Connexis (South Tow- er), Singapore 138632 (SG). LI, Renjun; c/o PKM, Institute for Infocomm Research, 1 Fusionopolis Way, #21-01 Con- nexis (South Tower), Singapore 138632 (SG). LAI, Fon Lin; c/o PKM, Institute for Infocomm Research, 1 Fusio- nopolis Way, #21-01 Connexis (South Tower), Singapore 138632 (SG). (74) Agent: SPRUSON & FERGUSON (ASIA) PTE LTD; P.O. Box 1531, Robinson Road Post Office, Singapore 903031 (SG). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (54) Title: SYSTEMS AND METHODS THAT IMPROVE ALIGNMENT OF A ROBOTIC ARM TO AN OBJECT (57) : Systems and methods that improve alignment of a robotic 100 Computer 110 arm to an object or parts of the object. Sensors sense a 3D protrusion on the object and a salient regular surface to which the 3D protrusion attaches. A method infers, based on a known geometry of the object, a component of the object that is next to the 3D protrusion and not detectable with the sensors. The robotic arm moves, based on a location of the 3D protrusion and a location of the component, with respect to the component. Component Inference 170 Object/Environment Change Detection 172 Robotic Arm Controller 174 \%\ [Continued on next page] WO 2018/182538 Al MIDEDIMOMOIDEIREE311101110110MOMIS (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Declarations under Rule 4.17: — of inventorship (Rule 4.17 (iv)) Published: with international search report (Art. 21(3)) in black and white; the international application as filed contained color or greyscale and is available for download from PATENTSCOPE