US 12,460,921 B2
Metrology 3D scanning system and method
Mingu Kang, Chicago, IL (US); Levi Armstrong, Kerrville, TX (US); Matthew M. Robinson, San Antonio, TX (US); Marc Alban, San Antonio, TX (US); Brad Johnson, Plainfield, IL (US); and James Clark, Baden, PA (US)
Assigned to ARIS TECHNOLOGY LLC, Batavia, IL (US)
Filed by ARIS TECHNOLOGY LLC, Batavia, IL (US)
Filed on Mar. 14, 2023, as Appl. No. 18/183,767.
Claims priority of provisional application 63/343,435, filed on May 18, 2022.
Prior Publication US 2023/0375334 A1, Nov. 23, 2023
Int. Cl. G01B 11/25 (2006.01); B25J 9/16 (2006.01); G09G 3/00 (2006.01); G01N 21/01 (2006.01); G01N 21/17 (2006.01)
CPC G01B 11/25 (2013.01) [B25J 9/1666 (2013.01); B25J 9/1697 (2013.01); G09G 3/003 (2013.01); G01N 2021/0118 (2013.01); G01N 2021/0181 (2013.01); G01N 2021/1785 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A metrology three-dimensional (3D) scanning system configured to generate scanning path and motion plans for specific objects using human-robot interaction (HRI), the metrology 3D scanning system comprising:
a computer memory;
one or more processors communicatively coupled to the computer memory, an HRI device, and a robotic element; and
a metrology 3D scanning application (app) comprising computing instructions configured to execute on the one or more processors, the metrology 3D scanning app, when executed by the one or more processors, causing the one or more processors to:
record HRI data as a human operator operates the HRI device;
generate a preliminary scan path based on the HRI data for operating the robotic element within an operating environment;
execute instructions to move the robotic element along at least a portion of the preliminary scan path and record, by the one or more processors into the computer memory, preliminary scan data comprising at least a subset of dimension data defining at least a target object;
generate a metrology scanning path plan and a motion plan for the robotic element based on the preliminary scan data; and
execute instructions to move the robotic element according to the metrology scanning path plan and the motion plan for scanning the target object, wherein the metrology scanning path plan and the motion plan, when implemented for scanning the target object, causes the robotic element to move within the operating environment.