Automated guidance and recognition system and method of the same
First Claim
1. A system for moving a servo actuated manipulator without a calibration target, comprising:
- a servo actuated manipulator configured to perform a function;
a camera mounted on or in fixed relation with a face plate of the manipulator;
a manipulator controller configured to move the manipulator; and
a recognition system configured to;
signal the manipulator controller to move the manipulator from a work position at a reference work piece to a distance “
A”
between the reference work piece and the manipulator along a coordinate axis of the reference work piece,acquire a two dimensional image via the camera of at least a portion of the reference work piece,learn the reference work piece based on the two dimensional image and the distance “
A”
associated with the reference work piece, andwith the introduction of a production workpiece, signal the manipulator controller to move the manipulator to a work position at the production work piece based on the learning of the reference work piece and the distance “
A”
associated with the reference work piece.
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Accused Products
Abstract
Disclosed herein are embodiments and methods of a visual guidance and recognition system requiring no calibration. One embodiment of the system comprises a servo actuated manipulator configured to perform a function, a camera mounted on the face plate of the manipulator, and a recognition controller configured to acquire a two dimensional image of the work piece. The manipulator controller is configured to receive and store the face plate position at a distance “A” between the reference work piece and the manipulator along an axis of the reference work piece when the reference work piece is in the camera'"'"'s region of interest. The recognition controller is configured to learn the work piece from the image and the distance “A”. During operation, a work piece is recognized with the system, and the manipulator is accurately positioned with respect to the work piece so that the manipulator can accurately perform its function.
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Citations
21 Claims
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1. A system for moving a servo actuated manipulator without a calibration target, comprising:
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a servo actuated manipulator configured to perform a function; a camera mounted on or in fixed relation with a face plate of the manipulator; a manipulator controller configured to move the manipulator; and a recognition system configured to; signal the manipulator controller to move the manipulator from a work position at a reference work piece to a distance “
A”
between the reference work piece and the manipulator along a coordinate axis of the reference work piece,acquire a two dimensional image via the camera of at least a portion of the reference work piece, learn the reference work piece based on the two dimensional image and the distance “
A”
associated with the reference work piece, andwith the introduction of a production workpiece, signal the manipulator controller to move the manipulator to a work position at the production work piece based on the learning of the reference work piece and the distance “
A”
associated with the reference work piece. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling the movement of a servo actuated manipulator without the need for calibration, using a camera, comprising:
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positioning a reference work piece; moving the manipulator to a work position at the reference work piece; moving the manipulator along a coordinate axis of the reference work piece from the work position to a distance “
A”
wherein at least a portion of the reference work piece is in a region of interest of the camera;acquiring a two dimensional image via the camera of at least a portion of the reference work piece; learning the reference work piece based on the two dimensional image and the distance “
A”
associated with the reference work piece; andwith the introduction of a production workpiece, moving the manipulator to a work position at the production work piece based on the learning of the reference work piece and the distance “
A”
associated with the reference work piece. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification