The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 03, 2002
Filed:
Jul. 06, 1999
Leonard H. Beiman, Waterford, MI (US);
Fanuc Robotics North America, Rochester Hills, MI (US);
Abstract
A robot manipulator having a vision system for viewing and identifying a known part. The vision system includes a computer and a camera with known viewing geometry and optics to view the part. The method of viewing and identifying the part comprises the following steps. First, a template of the known part is stored in the computer. Secondly, the relative position of the camera in relation to the part is determined and stored. Thirdly, the part is viewed through the camera and a distorted image of the part is captured. Fourthly, the stored relative position information of the camera in relation to the part and the known viewing geometry and optics of the camera are used to convert the distorted image into a true image of the part which removes any distortions from the distorted image. Fifthly, the true edges of the true image of the part are determined. Lastly, the true edges of the part are compared to the template to allow the computer to identify the part such that the robot may accurately perform a desired operation on the part.