Vision target based assembly
DC CAFC
First Claim
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1. A method of creating a data base for an object having at least first and second discrete targets thereon in a pattern, said method comprising:
- electro-optically sensing, with an electro-optical sensing means, the pattern of said first target and said second target; and
using a processing means, creating a data base of said object using said sensed pattern of said first target and said second target, said created data base comprising said sensed pattern of said first and second targets.
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Accused Products
Abstract
Methods and apparatuses for assemblying, handling, and fabrication are disclosed in which targets are used on objects. 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 assemblying process. One or more robots and imaging devices for the targets 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.
174 Citations
47 Claims
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1. A method of creating a data base for an object having at least first and second discrete targets thereon in a pattern, said method comprising:
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electro-optically sensing, with an electro-optical sensing means, the pattern of said first target and said second target; and
using a processing means, creating a data base of said object using said sensed pattern of said first target and said second target, said created data base comprising said sensed pattern of said first and second targets. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
electro-optically sensing a changed pattern of said first and second targets on said changed object; and
creating a further data base of said object using said sensed changed pattern of said first and second targets on said changed object.
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7. A method according to claim 6, wherein said further data base is created by modifying said created data base based of said sensed changed pattern of said first and second targets on said changed object.
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8. A method according to claim 1, wherein said object is one of a plurality of objects being processed in an manufacturing line, said method further comprising feeding back information related to each said created data base of a process in advance of said electro-optical sensing step in said method.
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9. A method according to claim 1, wherein said object is one of a plurality of objects being processed in a manufacturing line. said method further comprising feeding forward information related to said data base to a process subsequent to said electro-optical sensing step in said method.
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10. A method according to claim 1, further comprising, using said processing means, controlling a function related to said object based upon said created data base of said object.
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11. A method according to claim 10, further comprising again electro-optically sensing the pattern of said first and second targets on said object after controlling said function related to said object.
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12. A method according to claim 1, further comprising electro-optically sensing an image of the surface of said object and creating said data base of said object using said image of the surface of said oblect.
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13. A method according to claim 12, wherein a grey level image of the surface of said object is electro-optically sensed and said grey level image is used in creating said data base of said object.
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14. A method according to claim 12, wherein one electro-optically sensing means is used for sensing said pattern of said first and second targets and for sensing said image of the surface of said object.
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15. A method according to claim 1, said method further comprsing illuminating one of said first and second targets.
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16. A method according to claim 15, wherein said one of said first and second targets is illuminated with radiation outside of the visible wavelengths.
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17. A method according to claim 16, wherein said one of said first and second targets is illumninated with infrared radiation.
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18. A method according to claim 15, wherein said one of said first and second targets is illuminated intermittently.
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19. A method according to claim 15, wherein said one of said first and second targets comprises a retro-reflective target and said illumination is along an axis substantially parallel to the axis of said electro-optical sensing.
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20. A method according to claim 1, further comprising determining an orientation of said object with respect to said sensed pattern of said first and second targets and further creating said data base using determined orientation.
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21. A method according to claim 1, wherein said pattern of said at least first and second targets includes at least a third discrete target and said pattern of at least first, second and third targets is electro-optically sensed in three dimensions.
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22. A method according to claim 21, wherein said pattern of said first and second targets is electro-optically sensed by an electro-optical sensing means comprising at least two photodetector arrays.
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23. A method as in claim 1, wherein one of said first and second targets is a natural target on said object.
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24. A method as in claim 1, wherein one of said first and second targets is an artificial target and one of said first and second targets is a natural target on said object.
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25. Apparatus for creating a data base for an object having at least first and second discrete targets thereon in a pattern, said apparatus comprising:
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electro-optical sensing means for sensing the pattern of said first target and said second target; and
processing means for creating a data base of said object using said sensed pattern of said first target and said second target, said data base comprising said sensed pattern of said first and second targets. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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Specification
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Litigation Data
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Current AssigneeMotion Games LLC
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Original AssigneeGreat Lakes Intellectual Property, Ltd.
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InventorsPryor, Timothy R.
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Primary Examiner(s)Bryant, David P.
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Application NumberUS08/487,211Time in Patent Office2,036 DaysField of Search294/070.4, 294/070.9, 294/071, 297/20, 297/21, 297/05, 297/02, 297/03US Class Current29/407.04CPC Class CodesA01B 69/008 automaticB23P 19/10 Aligning parts to be fitted...B25J 13/088 with position, velocity or ...B25J 18/002 comprising beam bending com...B25J 19/021 Optical sensing devicesB25J 19/022 using lasersB25J 19/023 including video camera meansB25J 9/1684 Tracking a line or surface ...B25J 9/1692 Calibration of manipulatorB25J 9/1697 Vision controlled systemsB62D 1/28 non-mechanical , e.g. follo...G01B 11/00 Measuring arrangements char...G01B 11/002 for measuring two or more c...G05B 19/39 using a combination of the ...G05B 19/401 characterised by control ar...G05B 2219/34033 Control processor and signa...G05B 2219/36417 Programmed coarse position,...G05B 2219/36439 Guide arm in path by slavin...G05B 2219/37572 Camera, tv, visionG05B 2219/39057 Hand eye calibration, eye, ...View All
