US4707647A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Gray scale vision method and system utilizing same
Assignee: Fanuc Robotics North America Inc
•
Filing: 1986-05-19
•
Granted: 1987-11-17
•
Expires: 2006-05-19
Abstract
Abstract A method and system are provided for automatically locating an object at a vision station by performing an edge-detecting algorithm on at least a portion of the gray-scale digitized image of the object. Preferably, the algorithm comprises an implementation of the Hough transform which includes the iterative application of a direction-sensitive, edge-detecting convolution to the digital image. Each convolution is applied with a different convolution mask or filter, each of which is calculated to give maximum response to an edge of the object in a different direction. The method and system have the ability to extract edges from low contrast images. Also, preferably, a systolic array processor applies the convolutions. The implementation of the Hough transform also includes the steps of shifting the resulting edge-enhanced images by certain amounts in the horizontal and vertical directions, summing the shifted images together into an accumulator buffer to obtain an accumulator image and detecting the maximum response in the accumulator image which corresponds to the location of an edge. If the object to be found is permitted to rotate, at least one other feature, such as another edge, must be located in order to specify the location and orientation of the object. The location of the object when correlated with the nominal position of the object at the vision station provides the position and attitude of the object. The resultant data may be subsequently transformed into the coordinate frame of a peripheral device, such as a robot, programmable controller, numerical controlled machine, etc. for subsequent use by a controller of the peripheral device.
Inventors
- 👤 Bruce E. Coldren
- 👤 Kenneth W. Krause
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 02:22
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1694; B25J9/1697; G; G06; G06T; G06T1/00; G06T1/0014; G06T7/00; G06T7/10; G06T7/12; G06V; G06V10/00; G06V10/40; G06V10/48; G06V10/94; G06V10/955; G06T2207/00; G06T2207/10; G06T2207/10016; G06T2207/20; G06T2207/20048; G06T2207/20061; G06T2207/20172; G06T2207/20192
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
178 words
Method for automatically locating an object at a vision station, said method comprising the steps of: generating reference data relating to at least two features of an ideal object, the data including at least two edge points, one of said points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; generating a gray-scale digital image containing the objects to be located at the vision station; processing the reference data and the ditital image together to obtain an accumulator image, said processing step including the steps of performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; and determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image.
Claim 2
Dependent Claim
178 words
Method for automatically locating an object at a vision station, said method comprising the steps of: generating reference data relating to at least two features of an ideal object, the data including at least two edge points, one of said points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; generating a gray-scale digital image containing the objects to be located at the vision station; processing the reference data and the ditital image together to obtain an accumulator image, said processing step including the steps of performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; and determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image.
Claim 3
Dependent Claim
262 words
Method of automatically generating offset data for use by a programmed robot controlled to enable a robot controlled by the controller to move to an object at the vision station including a camera, the offset data relating the position of the object to the coordinate frame of the robot, the method comprising the step of: generating calibration data relating the camera to the coordinate frame of the robot; generating reference data relating to at least two features of an ideal object, the data including at least two edge points one of said points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; generating a gray-scale digital image containing the object to be located at the vision station; processing the reference data and the digital image together to obtain an accumulator image, said processing step including the steps of performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image; correlating the location of the features within the digital image of an offset of the object from the camera; and transforming the offset of the object from the camera to the robot frame.
Claim 4
Dependent Claim
262 words
Method of automatically generating offset data for use by a programmed robot controlled to enable a robot controlled by the controller to move to an object at the vision station including a camera, the offset data relating the position of the object to the coordinate frame of the robot, the method comprising the step of: generating calibration data relating the camera to the coordinate frame of the robot; generating reference data relating to at least two features of an ideal object, the data including at least two edge points one of said points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; generating a gray-scale digital image containing the object to be located at the vision station; processing the reference data and the digital image together to obtain an accumulator image, said processing step including the steps of performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image; correlating the location of the features within the digital image of an offset of the object from the camera; and transforming the offset of the object from the camera to the robot frame.
Claim 5
Dependent Claim
28 words
The method as claimed in claim 1 or claim 2 wherein said processing step includes the step of summing the shifted convoluted data to obtain the accumulator image.
Claim 6
Dependent Claim
35 words
The method as claimed in claim 3 including the step of scaling the gray levels of the shifted image by an amount related to the number of edge points prior to said step of summing.
Claim 7
Dependent Claim
41 words
The method as claimed in claim 1 wherein the digital image is generated by a camera and further comprising the step of correlating the location of the features within the digital image to an offset of the object from the camera.
Claim 8
Dependent Claim
49 words
The method as claimed in claim 5 further comprising the steps of generating calibration data relating the coordinate frame of the camera to the coordinate frame of a peripheral device located at the vision station and transforming the offset of the object from the camera to the device frame.
Claim 9
Dependent Claim
51 words
The method as claimed in claim 1 or claim 2 wherein said edge segments are defined by entries in an R-table having a predetermined reference point and the edge points and wherein for each edge point entry there is defined a local gradient direction and a vector to the reference point.
Claim 10
Dependent Claim
192 words
A gray-scale vision system for automatically locating an object at a vision station comprising: means for storing reference data relating to at least two features of an ideal object, the data including at least two edge points one of said edge points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; means for generating a gray-scale digital image containing the object to be located at the vision station, said means for generating including a television camera; means for processing the reference data and the digital image together to obtain an accumulator image, said processing means including means for performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; and means for determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image.
Claim 11
Dependent Claim
192 words
A gray-scale vision system for automatically locating an object at a vision station comprising: means for storing reference data relating to at least two features of an ideal object, the data including at least two edge points one of said edge points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; means for generating a gray-scale digital image containing the object to be located at the vision station, said means for generating including a television camera; means for processing the reference data and the digital image together to obtain an accumulator image, said processing means including means for performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; and means for determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image.
Claim 12
Dependent Claim
30 words
The system as claimed in claim 8 further comprising means for correlating the location of the features within the digital image to an offset of the object from the camera.
Claim 13
Independent Claim
280 words
A system for automatically generating offset data for use by a programmed robot controller to enable a robot controlled by the controller to move to an object at a vision station, the offset data relating the position of the object to the coordinate frame of the robot, the system comprising: means for storing reference data relating to at least two features of an ideal object, the data including at least two edge points, one of said edge points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; means for generating a gray-scale digital image containing the object to be located at the vision station, said means for generating including a television camera; means for storing calibration data relating the camera to the coordinate frame of the robot; means for processing the reference data and the digital image together to obtain an accumulator image, said processing means including means for performing an edge detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; means for determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image; means for correlating the location of the features within the digital image to an offset of the object from the camera; and means for transforming the offset of the object from the camera to the robot frame.
Claim 14
Independent Claim
280 words
A system for automatically generating offset data for use by a programmed robot controller to enable a robot controlled by the controller to move to an object at a vision station, the offset data relating the position of the object to the coordinate frame of the robot, the system comprising: means for storing reference data relating to at least two features of an ideal object, the data including at least two edge points, one of said edge points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points; means for generating a gray-scale digital image containing the object to be located at the vision station, said means for generating including a television camera; means for storing calibration data relating the camera to the coordinate frame of the robot; means for processing the reference data and the digital image together to obtain an accumulator image, said processing means including means for performing an edge detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; means for determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image; means for correlating the location of the features within the digital image to an offset of the object from the camera; and means for transforming the offset of the object from the camera to the robot frame.
Claim 15
Independent Claim
33 words
The system as claimed in claims 8, 9 or 10 wherein said means for processing the reference data and the digital data includes a gray scale processor for performing each of the convolutions.
Claim 16
Dependent Claim
25 words
The system as claimed in claim 11 wherein at least one of said convolution is direction-sensitive and comprises a two-dimensional convolution of the digital image.
Claim 17
Dependent Claim
17 words
The system as claimed in claim 12 wherein said gray scale processor comprises a systolic array processor.
References Cited (Backward Citations)
US4402053A
Cited
US4412293A
Cited
US4539703A
Cited
US4525858A
Cited
US4628464A
Cited
US4613269A
Cited
US4601055A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-11-16 | 1991-05-18 | 1991-11-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-11-16 | 1995-05-18 | 1995-11-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-11-16 | 1999-05-18 | 1999-11-17 | $7700.00 | Window Closed / Lapsed |