US 12,373,908 B1
Dynamic 2D and 3D vision-driven automated 3D motion generation system and 2D and 3D vision-driven dynamic process for 3D motion generation
Chingyu Eric Wang, Los Gatos, CA (US); and Kamesh Sarangan, Fremont, CA (US)
Assigned to STARTECX INC., Fremont, CA (US)
Filed by Chingyu Eric Wang, Los Gatos, CA (US); and Kamesh Sarangan, Fremont, CA (US)
Filed on Apr. 6, 2022, as Appl. No. 17/714,765.
Claims priority of provisional application 63/296,082, filed on Jan. 3, 2022.
Int. Cl. G06K 9/48 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06T 1/00 (2006.01); G06T 7/12 (2017.01)
CPC G06T 1/0014 (2013.01) [B25J 9/1697 (2013.01); B25J 19/023 (2013.01); G06T 7/12 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/10024 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A dynamic two-dimensional (2D) and three-dimensional (3D) vision-driven automated 3D motion generation system that is configured to provide automated 3D motion generation for component part manufacturing comprising:
a six-axis collaborative robot and needle that outputs a motion path;
a vision-capable camera system that produces one or more images (“imagery”);
a controlling computer that is communicably connect to the six-axis collaborative robot and the vision-capable camera system;
a robot controlling software program that implements (i) an edge detection algorithm that identifies edges in the imagery produced by the vision-capable camera system when the robot controlling software program is running on the controlling computer and (ii) a mid-point and curve fitting algorithm that identifies mid-points of detected edges and identifies a degree to which the detected edges fit to curves when the robot controlling software program is running on the controlling computer; and
a particular motion path as output by the six-axis collaborative robot and needle.