WO2003064116A3 - Method and apparatus for single camera 3d vision guided robotics - Google Patents

Method and apparatus for single camera 3d vision guided robotics Download PDF

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Publication number
WO2003064116A3
WO2003064116A3 PCT/CA2003/000139 CA0300139W WO03064116A3 WO 2003064116 A3 WO2003064116 A3 WO 2003064116A3 CA 0300139 W CA0300139 W CA 0300139W WO 03064116 A3 WO03064116 A3 WO 03064116A3
Authority
WO
WIPO (PCT)
Prior art keywords
single camera
vision guided
guided robotics
robotics
robot
Prior art date
Application number
PCT/CA2003/000139
Other languages
French (fr)
Other versions
WO2003064116A2 (en
Inventor
Babak Habibi
Simona Pescaru
Original Assignee
Braintech Canada Inc
Babak Habibi
Simona Pescaru
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=31189178&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2003064116(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from CA002369845A external-priority patent/CA2369845A1/en
Application filed by Braintech Canada Inc, Babak Habibi, Simona Pescaru filed Critical Braintech Canada Inc
Priority to JP2003563782A priority Critical patent/JP2005515910A/en
Priority to EP03734637A priority patent/EP1472052A2/en
Priority to AU2003239171A priority patent/AU2003239171A1/en
Publication of WO2003064116A2 publication Critical patent/WO2003064116A2/en
Publication of WO2003064116A3 publication Critical patent/WO2003064116A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39057—Hand eye calibration, eye, camera on hand, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39393—Camera detects projected image, compare with reference image, position end effector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53004—Means to assemble or disassemble with means to regulate operation by use of templet, tape, card or other replaceable information supply
    • Y10T29/53009—Means to assemble or disassemble with means to regulate operation by use of templet, tape, card or other replaceable information supply with comparator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
    • Y10T29/53061—Responsive to work or work-related machine element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53087—Means to assemble or disassemble with signal, scale, illuminator, or optical viewer

Abstract

A method of three-dimensional handling of an object by a robot using a tool and one camera mounted on the robot is disclosed in which at least six target features which are normal features of the object are selected on the object.
PCT/CA2003/000139 2002-01-31 2003-01-31 Method and apparatus for single camera 3d vision guided robotics WO2003064116A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2003563782A JP2005515910A (en) 2002-01-31 2003-01-31 Method and apparatus for single camera 3D vision guide robotics
EP03734637A EP1472052A2 (en) 2002-01-31 2003-01-31 Method and apparatus for single camera 3d vision guided robotics
AU2003239171A AU2003239171A1 (en) 2002-01-31 2003-01-31 Method and apparatus for single camera 3d vision guided robotics

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CA2,369,845 2002-01-31
CA002369845A CA2369845A1 (en) 2002-01-31 2002-01-31 Method and apparatus for single camera 3d vision guided robotics
US10/153,680 2002-05-24
US10/153,680 US6816755B2 (en) 2002-01-31 2002-05-24 Method and apparatus for single camera 3D vision guided robotics

Publications (2)

Publication Number Publication Date
WO2003064116A2 WO2003064116A2 (en) 2003-08-07
WO2003064116A3 true WO2003064116A3 (en) 2004-02-05

Family

ID=31189178

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2003/000139 WO2003064116A2 (en) 2002-01-31 2003-01-31 Method and apparatus for single camera 3d vision guided robotics

Country Status (5)

Country Link
US (1) US8095237B2 (en)
EP (1) EP1472052A2 (en)
JP (1) JP2005515910A (en)
AU (1) AU2003239171A1 (en)
WO (1) WO2003064116A2 (en)

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* Cited by examiner, † Cited by third party
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