Calibration system for vision-based automatic writing implement
First Claim
1. A method to detect substrate movement, the method comprising:
- detecting with an image sensor that a substrate is blank;
drawing a specialized target on the substrate; and
using the image sensor to find and recognize the target.
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Abstract
A calibration system for a vision-based automatic writing implement is disclosed. The automatically controlled writing implement is appended to an articulated robot arm. The writing implement draws or writes on a substrate and recognizes what a user draws or writes on the same substrate. The user may move the substrate while drawing, thereby confusing the drawing and recognition processes. Accordingly, a controller draws a target on the substrate initially. Before each drawing or recognition step, the controller uses a digital video camera to find and recognize the target and determine whether the substrate has moved. The target is asymmetrical, such that the controller can determine the orientation as well as the position of the substrate. The controller can then orient its drawing and recognition algorithms to the new location and orientation of the substrate.
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Citations
22 Claims
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1. A method to detect substrate movement, the method comprising:
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detecting with an image sensor that a substrate is blank;
drawing a specialized target on the substrate; and
using the image sensor to find and recognize the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computer readable medium having computer readable instructions encoded thereon for:
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drawing a specialized target on a blank substrate;
determining the orientation and the position of the substrate;
receiving video data from a digital video camera;
performing a frame-by-frame analysis on the data to detect the presence of the specialized target, the frame-by-frame analysis being performed in a plurality of video frames;
performing the frame-by-frame analysis on the plurality of video frames to detect the presence of drawings or writings in a video frame relative to the specialized target; and
examining the drawing or writing in the plurality of video frames to determine whether a user marked the substrate. - View Dependent Claims (14, 15, 16, 17)
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18. An apparatus comprising:
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an articulated robot arm for drawing a specialized target on a substrate and for drawing or writing secured to a base;
an image sensor for finding and recognizing the target; and
a controller, having a storage medium, including a rule set to interact with a user and instructions to manipulate the robot arm, to receive and process an image from the image sensor;
to determine an action based on the rule set and the image; and
to move the robot arm based on a determination of the image based on the rule set. - View Dependent Claims (19, 20, 21, 22)
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Specification