Robot vision using targets
First Claim
1. A method of assembling a first object to a second object comprising the steps of:
- providing a robot arm with a plurality of sensors mounted thereon;
associating the first object with the robot arm for manipulation thereby;
electro-optically sensing the location of a plurality of known references points on one of the first and second objects using a respective one of the plurality of sensors for each reference point;
determining the location of the robot arm relative to the one of the objects using the sensed locations of the reference points;
moving the robot arm to precisely position the first object relative to the second object; and
assembling the first object to the second object while the first object is precisely positioned relative to the second object by the robot arm.
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Abstract
Method and apparatus are disclosed for determining the position and attitude of objects, together with robotic systems employing same, and methods of targeting objects for such purposes. Particularly of interest is the application to continuous conveyors, particularly in the process of automobile manufacture. Also disclosed is the use of naturally occuring object features as targets in a machine vision based robot (or other) guidance system. In one embodiment, a special high speed processor finds at least 3 preselected feature points on an object, which when considered with the data base for the object, allows a rapid 6 degree of freedom solution for the object location relative to the camera and thence connected automation. While primarily envisioned for industrial robots, the invention is useful for all sorts of machines including vehicles, construction machinery and the like--anywhere the target object has a known data base relative to the features in question.
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Citations
9 Claims
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1. A method of assembling a first object to a second object comprising the steps of:
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providing a robot arm with a plurality of sensors mounted thereon; associating the first object with the robot arm for manipulation thereby; electro-optically sensing the location of a plurality of known references points on one of the first and second objects using a respective one of the plurality of sensors for each reference point; determining the location of the robot arm relative to the one of the objects using the sensed locations of the reference points; moving the robot arm to precisely position the first object relative to the second object; and assembling the first object to the second object while the first object is precisely positioned relative to the second object by the robot arm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification