Patent ID: 6490369
Filing Date: 2002-12-03
Classification: G05B,G06K,G06T

Abstract:
A method of viewing and identifying a known part for a robot manipulator using a vision system having a computer and a camera with known viewing geometry and optics to view the part, the method comprises the steps of:storing a template of the known part in the computer with identification parameters that correlate to an image of the part without any distortions such that there is only one template for each known part; determining a relative position of the camera in relation to the part; storing the relative position information of the in relation to the part; viewing the part through the camera which creates a distorted image of the part resulting from the relative position of the camera to the part, the viewing geometry of the camera, and the optics of the camera; using the stored relative position information of the camera in relation to the part and the known viewing geometry and optics of the camera to convert the distorted image into a true image of the part which removes any distortions from the distorted image; determining the true parameters of the true image of the part viewed by the camera; and comparing the true parameters of the true image of the part to the identification parameters of the stored template to allow the computer to identify the part such that the robot may accurately perform a desired operation on the part.