US 11,739,542 B2
System for placing objects on a surface and method thereof
Jonas Michael Furrer, Uster (CH); Fabio Matteo Gramazio, Zurich (CH); Matthias Kohler, Riedikon (CH); and Selen Ercan, Zurich (CH)
Assigned to ETH SINGAPORE SEC LTD, Singapore (SG)
Appl. No. 16/338,318
Filed by ETH SINGAPORE SEC LTD, Singapore (SG)
PCT Filed Oct. 2, 2017, PCT No. PCT/SG2017/050495
§ 371(c)(1), (2) Date Mar. 29, 2019,
PCT Pub. No. WO2018/063100, PCT Pub. Date Apr. 5, 2018.
Claims priority of application No. 10201608187P (SG), filed on Sep. 30, 2016.
Prior Publication US 2020/0024853 A1, Jan. 23, 2020
Int. Cl. B25J 9/16 (2006.01); E04F 21/22 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); B25J 19/02 (2006.01); E04F 21/00 (2006.01); E04F 21/02 (2006.01); G01B 11/25 (2006.01)
CPC E04F 21/22 (2013.01) [B25J 5/00 (2013.01); B25J 9/0087 (2013.01); B25J 9/163 (2013.01); B25J 11/0055 (2013.01); B25J 13/085 (2013.01); B25J 13/086 (2013.01); B25J 15/0019 (2013.01); B25J 15/0616 (2013.01); B25J 19/021 (2013.01); B25J 19/023 (2013.01); E04F 21/0076 (2013.01); E04F 21/023 (2013.01); G01B 11/2513 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for placing objects on a surface comprising:
a base;
a robotic arm coupled, at an end thereof, to the base;
an end effector coupled to the other end of the robotic arm, wherein the end effector is configured for releaseably coupling to an object to be placed on the surface;
one or more sensor units on a sensor frame, wherein the one or more sensor units is 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 to be placed and at least three boundary portions of objects on the surface, wherein at least two of the three boundary portions of the object to be placed are from substantially non-parallel sides, and wherein at least two of the three boundary portions of the objects on the surface are from substantially non-parallel sides; and
a processor configured to determine at least three degrees of freedom of the object 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 to be placed with respect to the objects on the surface based on the two-dimensional profile data,
wherein the system is configured to place the object 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.