Position sensing method and apparatus

• US 5,046,851 A
• Filed: 09/15/1989
• Issued: 09/10/1991
• Est. Priority Date: 03/18/1987
• Status: Expired due to Fees

• Current Assignee: Rheinmetall Machine Vision GmbH
• Original Assignee: Davy Mckee (Sheffield) Limited
• Inventors: Morgan, Colin G.
• Primary Examiner(s): Evans, F. L.
• Assistant Examiner(s): HANTIS, KAREN
• Application Number:
  US07/411,461
• Time in Patent Office: 725 Days
• Field of Search: 356/376, 356/375, 29/709, 29/720
• US Class Current: 356/615
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: Y10T 29/53087 with signal, scale, illuminator, or optical viewer

Abstract

A fan beam of light from a source (L) is directed across the edge of a car body window frame section (10) with an external reflective corner (11) and an internal reflective corner (12). The corners reflect sharp spots of light (S1) and (S2) respectively into a detector (D) which produces an output waveform (FIG. 2) in which sharp pulses (P1, P2) correspond to the spots of light. It is easy to discriminate against other pulses (P3) arising from stray reflections, e.g. the multiple reflection (13, R3). The positions of the pulses (P1 and P2) enable the positions of the corners to be calculated. Two detectors and/or or two light sources may be used to increase the amount of data available so as to allow a complete solution for the coordinates of the centers of curvature (C1, C2) of the corners relative to the detectors and the radii of curvature of the corners.

Claims

1. A method of sensing the position of a specularly reflecting, rounded corner of a strongly reflecting object, the method comprising:

providing an electro-optical sensing device, said sensing device comprising light source means for providing a single static fan beam of light, and light detector means;

said light source means being operative to provide a fan beam of light orientated across the rounded corner of the reflecting object;

said source means and said detector means being positioned such that a relatively large amount of the light reaching said detector means is light reflected from a narrow stripe-shaped region of said object extending along said corner; and

determining with said detector means the amount of light reflected from said object along a linear scale of positions defined relative to the direction of alignment between said source means and said detector means.

2. A method according to claim 1, characterized in that the position along the scale is corrected to relate the position to the centre of curvature of the corner.

3. A method according to claim 1 or 2, characterized in that the detector means is of the type providing an output waveform in which the position of a pulse relative to a timebase represents the position of a reflecting object.

4. A method according to claim 3, characterized in that the pulse has a width and an indication of the device to corner distance is obtained from the width of the pulse corresponding to the light reflected from the said narrow striped-shaped region of said object.

5. A method according to claim 1 or 2, characterized in that the device is set up to observe simultaneously two corners of the same object and the device to object distance is determined from the distance between the positions determined for the two corners.

6. A method according to claim 1 or 2, characterized in that the device comprises two spaced detectors (D1, D2) and the device to corner distance is determined stereoscopically from the positions sensed by the two detectors.

7. A method according to claim 6, characterized in that the device comprises two spaced light sources and the radius of curvature of the corner is determined in dependence upon the displacement between the position of the corner as determined by the detectors in response to the images from the two light sources.

8. A method according to claim 1, characterized in that the positions of a plurality of reflecting rounded corners distributed over an object are determined by a corresponding plurality of electro-optical sensing devices and the positions are analysed to determine a set of alignment errors between the object and the devices.

9. A method according to claim 8, characterized in that the devices are attached to a component-positioning robot and the alignment errors are applied to effect robot adjustments relative to corresponding degrees of freedom so as to position a component also carried by the robot correctly relative to the object.

10. A method according to claim 9, characterized in that the object is a car body, the corners are distributed round the frame of a window opening in the body and the component is a window to be inserted in the opening by the robot.

11. Apparatus for sensing the position of a specularly reflecting, rounded corner with an electro-optical device, characterised in that the device comprises a light source providing a fan beam of light orientated across the corner, a light detector positioned to receive light specularly reflected from the corner, the light detector being of a kind producing an output waveform in which the position of a pulse indicates the position along a linear scale, and computing means responsive to the output waveform to compute a position of the corner relative to the detector and in a detector plane established by the fan beam.

12. Apparatus according to claim 11, characterized in that there are two detectors spaced in the detector plane, and in that the computing means respond to the output waveforms from both detectors to compute the position of the corner (11, 12).

13. Apparatus according to claim 11 or 12, characterized in that there are two light sources spaced in the detector plane, and in that the computing means respond to the output waveforms from at least one detector corresponding to both light sources.

14. Automatic assembly apparatus for fitting a component to an object having rounded specularly reflecting corners, comprising a robot with a head for holding the component and programmed to pick up the component in a fixed position relative to the head and move it to a nominal datum position relative to the object, at least one electro-optical device mounted on the head to observe one of the corners of the object, said at least one device comprising a light source and a light detector adapted to enable the position of a reflecting object to be specified as a position along a scale referenced to a direction of alignment of said source and said detector, characterized in that the light source produces a static fan-shaped beam of light or produces a scanning light beam which scans to provide a static fan-shaped beam of light, in that said scale extends in the direction of the fan-shaped beam and across said one corner, and in that the positions of the source and detector are such that a relatively large amount of the light reaching the detector is light reflected from a narrow stripe-shaped region of said object extending along the corner, and by computing means responsive to signals from said at least one device to compute at least one correction signal, and means applying said at least one correction signal to control a corresponding degree of freedom of the robot so as to bring the component accurately to said datum position before the robot fits the component to the object.

15. Apparatus according to claim 14, characterized in that said at least one device is mounted in front of the component for position sensing and comprising means for retracting said at least one device after said at least one device has provided a signal to the computing means and before the robot fits the component to the object.

16. Apparatus according to claim 14, characterized in that said at least one device comprises two spaced detectors and the computing means determine the position of a corner sensed by said at least one device by triangulation calculations.

17. A method of sensing the position of a specularly reflecting, rounded corner, the method comprising:

providing an electro-optical sensing device, said sensing device comprising light source means of a pencil beam of light,

illuminating and linearly scanning said light source means in a plane to provide a static fan beam of light orientated across a rounded corner of the reflecting object;

said source means and said detector means being positioned such that a relatively large amount of light reaching said detector means is light reflected from a narrow stripe-shaped region of said object extending along said corner; and

determining with said detector means the amount of light reflected from said object along a linear scale of positions defined relative to the direction of alignment between said source means and said detector means.