Target based determination of robot and sensor alignment
DCFirst Claim
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1. A method for locating an object mounted on a structure comprising the steps of:
- providing a plurality of optically visible targets on the object at known locations;
mounting a TV camera for movement on a highly accurately positionable robot having a plurality of axes of motion;
locating the positionable robot at a location known relative to the structure so that the position of the TV camera relative to the structure is known;
moving the positionable robot to position the TV camera at a predetermined point in space known relative to the structure;
viewing the targets with the TV camera;
determining the location of the targets with the TV camera relative to the TV camera, and hence relative to the structure; and
determining from the targets location relative to the structure the location of the object relative to the structure.
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Abstract
Target based machine vision method and apparatus are disclosed, useful for alignment of sensors and other objects affixed to structures, robots and the like.
While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.
51 Citations
10 Claims
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1. A method for locating an object mounted on a structure comprising the steps of:
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providing a plurality of optically visible targets on the object at known locations; mounting a TV camera for movement on a highly accurately positionable robot having a plurality of axes of motion; locating the positionable robot at a location known relative to the structure so that the position of the TV camera relative to the structure is known; moving the positionable robot to position the TV camera at a predetermined point in space known relative to the structure; viewing the targets with the TV camera; determining the location of the targets with the TV camera relative to the TV camera, and hence relative to the structure; and determining from the targets location relative to the structure the location of the object relative to the structure. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for locating a test object comprising the steps of:
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providing a position sensing means on a movable robot for sensing the position of the test object; sensing the position of the test object relative to the sensing means with the sensing means; providing targets on one of the sensing means and robot; determining the position of the sensing means from the sensed position of the targeted one of the sensing means and robot; and determining the location of the test object from the determined position of the sensing means and the determined position of the test object relative to the sensing means. - View Dependent Claims (9, 10)
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Specification