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Patent Searching and Data


Title:
SYSTEM FOR PLACING OBJECTS ON A SURFACE AND METHOD THEREOF
Document Type and Number:
WIPO Patent Application WO/2018/063100
Kind Code:
A3
Abstract:
A system for placing objects on a surface. The system may include a base (110), a robotic arm (120) coupled, at an end thereof, to the base (110), an end effector (130) coupled to the other end of the robotic arm (120). The end effector (130) may be configured for releaseably coupling to an object (101) to be placed on the surface. The system may further include one or more sensor units (150) on a sensor frame. The one or more sensor units (150) may be configured for sensing a two-dimensional profile data including at least two two- dimensional profiles together comprising at least three boundary portions of the object (101) to be placed and at least three boundary portions of objects on the surface. At least two of the three boundary portions of the object to be placed may be from substantially non- parallel sides. At least two of the three boundary portions of the objects on the surface may be from substantially non-parallel sides. The system may further include a processor configured to determine at least three degrees of freedom of the object (101) to be placed with respect to the sensor frame and six degrees of freedom of the sensor frame with respect to the objects on the surface in a three- dimensional space for determining a current pose of the object (101) to be placed with respect to the objects on the surface based on the two-dimensional profile data. Further, the system may be configured to place the object (101) based on differences between the current pose and a desired pose of the object to be placed determined from a model of objects on the surface in the three-dimensional space.

Inventors:
FURRER JONAS MICHAEL (CH)
GRAMAZIO FABIO MATTEO (CH)
KOHLER MATTHIAS (CH)
ERCAN SELEN (CH)
Application Number:
PCT/SG2017/050495
Publication Date:
August 02, 2018
Filing Date:
October 02, 2017
Export Citation:
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Assignee:
ETH SINGAPORE SEC LTD (SG)
International Classes:
E04F21/18; B25J19/02; E04F21/22; G01B11/25
Foreign References:
US9358688B22016-06-07
EP2907938A12015-08-19
CN102277955B2013-05-29
Other References:
VOLKER HELM ET AL: "Mobile robotic fabrication on construction sites: DimRob", INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON, IEEE, 7 October 2012 (2012-10-07), pages 4335 - 4341, XP032287463, ISBN: 978-1-4673-1737-5, DOI: 10.1109/IROS.2012.6385617
J P R JONGENEEL ET AL: "Robotic tiling of rough floors: A design study", 20 December 2010 (2010-12-20), XP055125288, Retrieved from the Internet [retrieved on 20140626]
Attorney, Agent or Firm:
VIERING, JENTSCHURA & PARTNER LLP (SG)
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