Vision target based assembly

• US 6,314,631 B1
• Filed: 06/05/1995
• Issued: 11/13/2001
• Est. Priority Date: 05/11/1981
• Status: Expired due to Term

• Current Assignee: LMI Technologies Inc.
• Original Assignee: Great Lakes Intellectual Property, Ltd.
• Inventors: Pryor, Timothy R.
• Primary Examiner(s): Bryant, David P.
• Application Number:
  US08/465,257
• Time in Patent Office: 2,353 Days
• Field of Search: 294/070.4, 294/071, 297/20, 297/21, 250/339.06, 250/339.14, 250/341.8, 382/152, 382/288, 382/289, 382/286, 382/291, 356/375
• US Class Current: 29/407.04
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B23P 19/10 Aligning parts to be fitted together
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B25J 18/002 comprising beam bending compensation means
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G05B 19/39 using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/34033 Control processor and signal processor cooperate
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive
• CPC Class Codes: G05B 2219/36439 Guide arm in path by slaving arm to projected path, beam riding
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/39057 Hand eye calibration, eye, camera on hand, end effector
• CPC Class Codes: G05B 2219/39393 : Camera detects projected image, compare with reference image, position end effector
• CPC Class Codes: G05B 2219/45064 : Assembly robot
• CPC Class Codes: G05B 2219/45083 : Manipulators, robot
• CPC Class Codes: Y10T 29/49764 : with testing or indicating
• CPC Class Codes: Y10T 29/49769 : Using optical instrument [excludes mere human eyeballing]
• CPC Class Codes: Y10T 29/4978 : Assisting assembly or disassembly
• CPC Class Codes: Y10T 29/53004 : with means to regulate operation by use of templet, tape, card or other replaceable information supply
• CPC Class Codes: Y10T 29/53009 : with comparator
• CPC Class Codes: Y10T 29/53087 : with signal, scale, illuminator, or optical viewer
• CPC Class Codes: Y10T 29/53091 : for work-holder for assembly or disassembly

Abstract

Methods for assembling, handling, and fabricating are disclosed in which targets used on objects are located. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assembling process. One or more robots and imaging devices for the targets, especially for infrared radiation, are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.

Claims

1. A method for determining the location of a target provided on an object, said target being reflective of radiation outside of the visible wavelengths, said method comprising:

providing on an object a special target which reflects infra red radiation;

illuminating said object with infra red radiation projected from an infra red radiation source;

electro-optically detecting infra red radiation reflected from the infra red radiation source which is reflected from said target with an electro-optical sensing means, said electro-optical sensing means having an output; and

processing an output of said electro-optical sensing means to determine the location of said target.

2. A method according to claim 1, wherein said target is a retro-reflecfive target and said target is illuminated by said infra red radiation source on an axis substantially parallel to the axis on which reflected radiation is detected by said electro-optical sensing means.

3. A method according to claim 1, wherein said infra red radiation is detected with an electro-optical sensing means comprising a photodetector array.

4. A method according to claim 1, wherein a microcomputer is used for said processing.

5. A method according to claim 1, wherein said projecting step illuminates all of the object facing the IR radiation source with the IR radiation.

6. A method according to claim 1, wherein said IR radiation source is an LED.