Method and apparatus utilizing an orientation code for automatically guiding a robot

• US 5,280,179 A
• Filed: 02/18/1992
• Issued: 01/18/1994
• Est. Priority Date: 04/30/1979
• Status: Expired due to Term

• Current Assignee: Sensor Adaptive Machines, Inc.
• Original Assignee: Sensor Adaptive Machines, Inc.
• Inventors: Pryor, Timothy R., Hockley, Bernard, Liptay-Wagner, Nick, Hageniers, Omer L., Pastorius, W. J.
• Primary Examiner(s): Nelms, David C.
• Assistant Examiner(s): Lee, John R.
• Application Number:
  US07/836,508
• Time in Patent Office: 700 Days
• Field of Search: 250/557, 250/560, 250/561, 250/566, 250/202, 250/206.1, 250/206.2, 250/208.1, 356/1, 356/4, 356/152, 356/375, 901/47, 235/454, 235/494, 235/375, 364/478, 364/513, 364/559
• US Class Current: 250/559.37
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/2416 of gears optical projection profile comparators G01B9/08
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/491 Details of non-pulse systems

Abstract

A machine-readable orientation code is provided on the surface of an object to enable determination of the orientation of the object. The orientation code is imaged onto a scanning matrix photodetector array and the output of the array is used to guide a robot to manipulate the object in accordance with the location of the image of the orientation code on the array.

Claims

1. Apparatus for automatically guiding a robot for manipulating an object comprising:

a) means for providing an object to be manipulated by a robot, said object having on a surface thereof a machine-readable orientation code capable of determining the x y orientation of said object, said orientation code being provided on the object surface in a known position on the object surface such that when the orientation code is in said known position, the object is in known position relative thereto;

b) means for automatically reading said orientation code, said reading means comprising means for imaging said orientation code onto a scanning matrix photodetector array;

c) means for scanning said array to determine the location of the image of said orientation code on said array; and

d) means for guiding said robot for manipulating said object in accordance with the location of said orientation code image on said array.

2. Apparatus according to claim 1 wherein said robot comprises a moveable manipulative arm for manipulating said object, wherein said imaging means comprises a lens, and wherein said matrix photodiode array and lens are mounted on said manipulator arm.

3. Apparatus according to claim 2 comprising means for determining that the robot is in a proper position for manipulating the object, and means for activating the robot to manipulate the object.

4. Apparatus according to claim 3 wherein said orientation code further includes a code capable of determining the tilt of said surface.

5. Apparatus according to claim 1 wherein the object has a machine readable object identification code on a surface thereof, and wherein the apparatus further comprises means for automatically reading said object identification code, and means for guiding said robot for manipulation of said object in accordance with both the location of the orientation code on the array and the object identification code.

6. Apparatus according to claim 1 further comprising electro-optical means for determining the distance between said robot and said object and means for guiding said robot for manipulation of said object in accordance with the determined distance.

7. Apparatus according to claim 4 wherein said code is capable of indicating that said surface is normal to said sensor.

8. A method of automatically guiding a robot for manipulating an object comprising:

a) providing an object to be manipulated by a robot, said object having on a surface thereof a machine-readable orientation code capable of determining the x y orientation of said object, said orientation code being provided on the object surface in a known position on the object surface such that when the orientation code is in said known position, the object is in known position relative thereto;

b) automatically reading said orientation code, said ready being effected by imaging said orientation code onto a scanning matrix photodetector array;

c) scanning said array to determine the location of the image of said orientation code on said array; and

d) guiding said robot for manipulating said object in accordance with the location of said orientation code image on said array.

9. A method according to claim 8 wherein said robot comprises a movable manipulative arm for manipulating said object, wherein imaging is effected with a lens, and wherein said matrix photodiode array and lens are mounted on said manipulator arm.

10. A method according to claim 9 comprising repeating steps b, c, and d a plurality of times until the location of said orientation code on said array is at a pre-determined location indicating that the robot is in a proper position for manipulating the object, and activating the robot to manipulate the object.

11. A method according to claim 10 wherein said orientation code further includes a code capable of determining the tilt of said surface.

12. A method according to claim 8 wherein the object has on a surface thereof a machine readable object identification code, and wherein said method further comprises automatically reading said object identification code, and guiding said robot for manipulation of said object in accordance with both the location of the orientation code on the array and the object identification code.

13. A method according to claim 8 further comprising determining, by electro-optical means, the distance between said robot and said object and guiding said robot for manipulation of said object in accordance with the determined distance.

14. A method according to claim 11 wherein said code is capable of indicating that said surface is normal to said sensor.