Automated Guidance and Recognition System and Method of the Same
First Claim
1. A visual guidance and recognition system for recognizing work pieces and guiding a servo actuated manipulator without a calibration target, the system comprising:
- a servo actuated manipulator configured to perform a function;
a camera mounted on or in fixed relation with a face plate of the manipulator;
a recognition system configured to acquire a two dimensional image via the camera of at least a portion of at least one reference work piece; and
a manipulator controller configured to receive and store a position of the face plate at a distance “
A”
between the reference work piece and the manipulator along a coordinate axis of the reference work piece when the reference work piece image is acquired;
wherein the recognition system is further configured to learn the reference work piece based on the two dimensional image and the distance “
A”
associated with the reference work piece.
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Accused Products
Abstract
Disclosed herein are embodiments and methods of a visual guidance and recognition system requiring no calibration. One embodiment of the system comprises a servo actuated manipulator configured to perform a function, a camera mounted on the face plate of the manipulator, and a recognition controller configured to acquire a two dimensional image of the work piece. The manipulator controller is configured to receive and store the face plate position at a distance “A” between the reference work piece and the manipulator along an axis of the reference work piece when the reference work piece is in the camera'"'"'s region of interest. The recognition controller is configured to learn the work piece from the image and the distance “A”. During operation, a work piece is recognized with the system, and the manipulator is accurately positioned with respect to the work piece so that the manipulator can accurately perform its function.
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Citations
21 Claims
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1. A visual guidance and recognition system for recognizing work pieces and guiding a servo actuated manipulator without a calibration target, the system comprising:
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a servo actuated manipulator configured to perform a function; a camera mounted on or in fixed relation with a face plate of the manipulator; a recognition system configured to acquire a two dimensional image via the camera of at least a portion of at least one reference work piece; and a manipulator controller configured to receive and store a position of the face plate at a distance “
A”
between the reference work piece and the manipulator along a coordinate axis of the reference work piece when the reference work piece image is acquired;wherein the recognition system is further configured to learn the reference work piece based on the two dimensional image and the distance “
A”
associated with the reference work piece. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A visual guidance and recognition system for recognizing work pieces and guiding a servo actuated manipulator with out a calibration target comprising;
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a recognition controller comprising a database of at least one reference work piece; a servo actuated manipulator configured to perform a function; a camera mounted on or in fixed relation with a face plate of the manipulator; and a manipulator controller configured to control movement of the servo actuated manipulator, wherein the recognition system is configured to acquire a two dimensional image via the camera of at least a portion of a production work piece, match the image of the production work piece with the reference work piece in the database, calculate a dimensional data offset between the image of the production work piece and an image associated with the reference work piece, and signal the manipulator controller to move the manipulator to decrease the offset until the offset is below a threshold limit.
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13. A method for visual guidance and recognition of a work piece without the need for calibration, using a camera and a servo actuated manipulator, comprising:
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positioning a reference work piece; storing a manipulator work position at the reference work piece in a manipulator controller; moving the manipulator along a coordinate axis of the reference work piece to a distance “
A”
wherein at least a portion of the reference work piece is in a region of interest of the camera;storing the position of a face plate of the manipulator at the distance “
A”
in the manipulator controller;acquiring a two dimensional image with a recognition controller via the camera of at least a portion of at least one reference work piece; and learning the reference work piece with the recognition controller based on the two dimensional image and the distance “
A”
associated with the reference work piece. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification