US4835450A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and system for controlling robot for constructing products
Assignee: Toshiba Corp
•
Filing: 1988-05-19
•
Granted: 1989-05-30
•
Expires: 2008-05-19
Abstract
Abstract A 3-dimensional form of a sample product constituted by a plurality of parts having known forms is measured by imaging the sample product from a plurality of directions. Arrangement data representing the 3-dimensional positions and orientations of the parts constituting the sample product are obtained, by a construction detecting module, on the basis of the measured 3-dimensional form of the sample product. A task planning module sets a task for moving a part to be used for constructing a product and the sequence of the task by using arrangement data acquired by the construction detecting module. Upon generation of motion command data for controlling a robot for constructing the product in accordance with the task set by the task planning module, the generated motion command is output to a motion control module. The construction robot is controlled by the motion control module, whereby a product the same as the sample product is constructed.
Inventors
- 👤 Tetsuo Suzuki
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 02:55
CPC Classifications
G; G06; G06T; G06T1/00; G06T1/0014; B; B25; B25J; B25J9/00; B25J9/0084; B25J9/0087; B25J9/16; B25J9/1679; B25J9/1694; B25J9/1697
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
150 words
A method for controlling a robot for constructing a subject product having the same construction as that of a sample product constituted by a plurality of sample parts having known forms, the method comprising the steps of: measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions; detecting the construction of the sample product from the measured 3-dimensional form of the sample product and forms of the sample parts constituting the sample product, thereby acquiring arrangement data of the sample product; setting a task for moving a subject part to a position represented by the arrangement data, used for constructing the subject product; setting a task sequence of the task for constructing the subject product; generating motion command data for controlling the robot in accordance with the set task sequence; and controlling the robot in accordance with the generated motion command data.
Claim 2
Independent Claim
150 words
A method for controlling a robot for constructing a subject product having the same construction as that of a sample product constituted by a plurality of sample parts having known forms, the method comprising the steps of: measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions; detecting the construction of the sample product from the measured 3-dimensional form of the sample product and forms of the sample parts constituting the sample product, thereby acquiring arrangement data of the sample product; setting a task for moving a subject part to a position represented by the arrangement data, used for constructing the subject product; setting a task sequence of the task for constructing the subject product; generating motion command data for controlling the robot in accordance with the set task sequence; and controlling the robot in accordance with the generated motion command data.
Claim 3
Dependent Claim
33 words
A method according to claim 1, wherein the arrangement data of the sample product includes 3-dimensional position data of the sample parts constituting the sample product and orientation data at corresponding 3-dimensional positions.
Claim 4
Dependent Claim
35 words
A method according to claim 1, wherein the data representing the forms of the sample parts are prestored so as to be compared with the data representing the 3-dimensional forms of the measured sample product.
Claim 5
Independent Claim
195 words
A system for controlling a robot for constructing a subject product having the same arrangement as that of a sample product constituted by a plurality of sample parts having known forms, the system comprising: 3-dimensional form measuring means for measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions; construction detecting means for detecting the construction of the sample product from the 3-dimensional form of the sample product measured by said 3-dimensional form measuring means and forms of the sample parts constituting the sample product, and for acquiring arrangement data of the sample product; task setting means for setting a task for moving a subject part, used for constructing the subject product, to a position represented by the arrangement data acquired by said construction detecting means; task sequence setting means for setting a task sequence of the task set by said task setting means; generating means for generating motion command data for controlling the robot in accordance with the task sequence set by said task sequence setting means; and controlling means for controlling the robot in accordance with the motion command data generated by said generating means.
Claim 6
Independent Claim
195 words
A system for controlling a robot for constructing a subject product having the same arrangement as that of a sample product constituted by a plurality of sample parts having known forms, the system comprising: 3-dimensional form measuring means for measuring a 3-dimensional form of the sample product by imaging the sample product from a plurality of directions; construction detecting means for detecting the construction of the sample product from the 3-dimensional form of the sample product measured by said 3-dimensional form measuring means and forms of the sample parts constituting the sample product, and for acquiring arrangement data of the sample product; task setting means for setting a task for moving a subject part, used for constructing the subject product, to a position represented by the arrangement data acquired by said construction detecting means; task sequence setting means for setting a task sequence of the task set by said task setting means; generating means for generating motion command data for controlling the robot in accordance with the task sequence set by said task sequence setting means; and controlling means for controlling the robot in accordance with the motion command data generated by said generating means.
Claim 7
Dependent Claim
39 words
A system according to claim 4, wherein the arrangement data of the sample parts, obtained by said construction detecting means, includes 3-dimensional position data of the sample parts constituting the sample product and orientation data at corresponding 3-dimensional positions.
Claim 8
Dependent Claim
29 words
A system according to claim 4, wherein said construction detecting means includes part-form memory means for storing data representing the forms of the sample parts constituting the sample product.
Claim 9
Dependent Claim
43 words
A system according to claim 4, wherein the data representing the form off the sample product are prestored in said part-form memory means and compared with the data representing the 3-dimensional form of the sample product measured by said 3-dimensional form measuring means.
References Cited (Backward Citations)
US4281342A
Cited
US4287459A
Cited
US4373804A
Cited
US4305130A
Cited
US4575304A
Cited
US4691446A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-05-29 | 1992-11-28 | 1993-05-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-05-29 | 1996-11-28 | 1997-05-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-05-29 | 2000-11-28 | 2001-05-30 | $7700.00 | Window Closed / Lapsed |