The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 12, 2026
Filed:
Apr. 28, 2023
University of Electronic Science and Technology of China, Chengdu, CN;
Chun Yin, Chengdu, CN;
Yan Gao, Chengdu, CN;
Zhongbao Yan, Chengdu, CN;
Kai Chen, Chengdu, CN;
Yuhua Cheng, Chengdu, CN;
Xutong Tan, Chengdu, CN;
Junyang Liu, Chengdu, CN;
UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA, Chengdu, CN;
Abstract
The present invention provides a method for robot assisted multi-view 3D scanning measurement based on path planning. Firstly, establishing a virtual simulation platform to complete the setting of measurement poses and measurement paths and perform the path evaluations of measurement paths, which improves the measurement efficiency and guarantees the measurement safety. Then, completing the preliminary hand-eye calibration based on the properties of Kronecker product, which reduces the system noise in the process of calibration and the error influence caused by the calculation, and the preliminary hand-eye calibration is optimized by establishing a reprojection error cost function as the fitness function of the particle swarm optimization algorithm, which further improves the accuracy of hand-eye calibration and guarantees the registration quality of single-view point cloud. Lastly, moving the robot in turn to the measurement poses of the planned measurement paths, obtaining a single-view point cloud of the measured object and transforming it from the camera coordinate system to the robot base coordinate system to obtain a registered single-view point cloud based on the optimized hand-eye matrix. when registered single-view point clouds of all measurement poses are obtained, the points under the robot base coordinate system form a complete point cloud of the measured object, the 3D the measurement is completed.