| CPC B25J 9/1697 (2013.01) [B25J 9/1664 (2013.01); G06T 7/0004 (2013.01); B25J 9/163 (2013.01); B25J 9/1653 (2013.01); B25J 9/1682 (2013.01)] | 17 Claims |
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9. A system for object defect detection, the system comprising:
a production line, wherein an object is received on the production line;
a robot arm;
a camera, wherein the camera is used for capturing images of the object; and
a processor in communication with the robot arm, the processor is configured to:
compute a motion optimized path for the robot arm, wherein the motion optimized path comprises a path for performing a sequence of rotations by the robot arm on the object for image capturing;
using the robot arm to grasp the object and moving the robot arm according to the motion optimized path to rotate the object based on the sequence of rotations;
control the camera to capture a plurality of images of the object while the object is being rotated;
perform defect detection on the plurality of images of the object to determine object defect; and
for object defect being detected, issue a defect notification to an operator of the production line,
wherein computing the motion optimized path for the robot arm comprises:
receive geometric information of the object;
receive probability distribution of defects for the object, the probability distribution of defects for the object estimates probability of defect development on the object during production; and
compute the motion optimized path for the robot arm based on the geometric information and the probability distribution of defects.
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