System and method for servoing robots based upon workpieces with fiducial marks using machine vision
US6681151B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 15, 2000 |
| Grant date | Jan 20, 2004 |
| Priority date | — |
| Expiry date | Apr 5, 2021 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40607
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one mon-translational degree of freedom. The fiducial is provided to workpiece carried by an end effector of a robot operating within a work area. When the workpiece enters an area of interest within a field of view of a camera of the machine vision system, the fiducial is recognized by the tool based upon a previously trained and calibrated stored image within the tool. The location of the work-piece is derived by the machine vision system based upon the viewed location of the fiducial. The location of the found fiducial is compared with that of a desired location for the fiducial. The desired location can be based upon a standard or desired position of the workpiece. If a difference between location of the found fiducial and the desired location exists, the difference is calculated with respect to each of the translational axes and the rotation. The difference can then be further transform…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.