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1.发明申请公开(公告)号：US20200065995A1
公开(公告)日：2020-02-27
申请号：US16410672
申请日：2019-05-13
Applicant: Cognex Corporation
Inventor： Guruprasad Shivaram , Cyril C. Marrion, JR. , Lifeng Liu , Tuotuo Li
Abstract: This invention provides a system and method that ties the coordinate spaces at the two locations together during calibration time using features on a runtime workpiece instead of a calibration target. Three possible scenarios are contemplated: wherein the same workpiece features are imaged and identified at both locations; wherein the imaged features of the runtime workpiece differ at each location (with a CAD or measured workpiece rendition available); and wherein the first location containing a motion stage has been calibrated to the motion stage using hand-eye calibration and the second location is hand-eye calibrated to the same motion stage by transferring the runtime part back and forth between locations. Illustratively, the quality of the first two techniques can be improved by running multiple runtime workpieces each with a different pose, extracting and accumulating such features at each location; and then using the accumulated features to tie the two coordinate spaces.
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公开(公告)号：US10076842B2
公开(公告)日：2018-09-18
申请号：US15278156
申请日：2016-09-28
Applicant: Cognex Corporation
Inventor： Lifeng Liu , Cyril C. Marrion , Tian Gan
Abstract: Described are machine vision systems and methods for simultaneous kinematic and hand-eye calibration. A machine vision system includes a robot or motion stage and a camera in communication with a control system. The control system is configured to move the robot or motion stage to poses, and for each pose: capture an image of calibration target features and robot joint angles or motion stage encoder counts. The control system is configured to obtain initial values for robot or motion stage calibration parameters, and determine initial values for hand-eye calibration parameters based on the initial values for the robot or motion stage calibration parameters, the image, and joint angles or encoder counts. The control system is configured to determine final values for the hand-eye calibration parameters and robot or motion stage calibration parameters by refining the hand-eye calibration parameters and robot or motion stage calibration parameters to minimize a cost function.
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公开(公告)号：US10421189B2
公开(公告)日：2019-09-24
申请号：US14921731
申请日：2015-10-23
Applicant: Cognex Corporation
Inventor： Aaron S. Wallack , Lifeng Liu , Xiangyun Ye
Abstract: A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.
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公开(公告)号：US20190084160A1
公开(公告)日：2019-03-21
申请号：US16192233
申请日：2018-11-15
Applicant: COGNEX CORPORATION
Inventor： Aaron S. Wallack , Lifeng Liu , Xiangyun Ye
Abstract: A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.
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公开(公告)号：US20190015991A1
公开(公告)日：2019-01-17
申请号：US16133324
申请日：2018-09-17
Applicant: Cognex Corporation
Inventor： Lifeng Liu , Cyril C. Marrion , Tian Gan
Abstract: Described are machine vision systems and methods for simultaneous kinematic and hand-eye calibration. A machine vision system includes a robot or motion stage and a camera in communication with a control system. The control system is configured to move the robot or motion stage to poses, and for each pose: capture an image of calibration target features and robot joint angles or motion stage encoder counts. The control system is configured to obtain initial values for robot or motion stage calibration parameters, and determine initial values for hand-eye calibration parameters based on the initial values for the robot or motion stage calibration parameters, the image, and joint angles or encoder counts. The control system is configured to determine final values for the hand-eye calibration parameters and robot or motion stage calibration parameters by refining the hand-eye calibration parameters and robot or motion stage calibration parameters to minimize a cost function.
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Patent Agency Ranking
公开(公告)号：US10290118B2
公开(公告)日：2019-05-14
申请号：US15223436
申请日：2016-07-29
Applicant: Cognex Corporation
Inventor： Guruprasad Shivaram , Cyril C. Marrion, Jr. , Lifeng Liu , Tuotuo Li
Abstract: This invention provides a system and method that ties the coordinate spaces at the two locations together during calibration time using features on a runtime workpiece instead of a calibration target. Three possible scenarios are contemplated: wherein the same workpiece features are imaged and identified at both locations; wherein the imaged features of the runtime workpiece differ at each location (with a CAD or measured workpiece rendition available); and wherein the first location containing a motion stage has been calibrated to the motion stage using hand-eye calibration and the second location is hand-eye calibrated to the same motion stage by transferring the runtime part back and forth between locations. Illustratively, the quality of the first two techniques can be improved by running multiple runtime workpieces each with a different pose, extracting and accumulating such features at each location; and then using the accumulated features to tie the two coordinate spaces.
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公开(公告)号：US20180089831A1
公开(公告)日：2018-03-29
申请号：US15278156
申请日：2016-09-28
Applicant: Cognex Corporation
Inventor： Lifeng Liu , Cyril C. Marrion , Tian Gan
CPC classification number: B25J9/1697 , B25J9/1692 , G05B2219/39045 , G05B2219/39057 , G05B2219/40607 , G06T7/0018 , G06T7/0044
Abstract: Described are machine vision systems and methods for simultaneous kinematic and hand-eye calibration. A machine vision system includes a robot or motion stage and a camera in communication with a control system. The control system is configured to move the robot or motion stage to poses, and for each pose: capture an image of calibration target features and robot joint angles or motion stage encoder counts. The control system is configured to obtain initial values for robot or motion stage calibration parameters, and determine initial values for hand-eye calibration parameters based on the initial values for the robot or motion stage calibration parameters, the image, and joint angles or encoder counts. The control system is configured to determine final values for the hand-eye calibration parameters and robot or motion stage calibration parameters by refining the hand-eye calibration parameters and robot or motion stage calibration parameters to minimize a cost function.
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公开(公告)号：US20220007007A1
公开(公告)日：2022-01-06
申请号：US17372278
申请日：2021-07-09
Applicant: Cognex Corporation
Inventor： Tuotuo Li , Lifeng Liu , Cyril C. Marrion
Abstract: Disclosed herein are systems and methods for machine vision. A machine vision system includes a motion rendering device, a first image sensor, and a second image sensor. The machine visions system includes a processor configured to run a computer program stored in memory that is configured to determine a first transformation that allows mapping between the first coordinate system associated with the motion rendering device and the second coordinate system associated with the first image sensor, and to determine a second transformation that allows mapping between the first coordinate system associated with the motion rendering device and the third coordinate system associated with the second image sensor.
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公开(公告)号：US11077557B2
公开(公告)日：2021-08-03
申请号：US16192233
申请日：2018-11-15
Applicant: COGNEX CORPORATION
Inventor： Aaron S. Wallack , Lifeng Liu , Xiangyun Ye
Abstract: A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.
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公开(公告)号：US11070793B2
公开(公告)日：2021-07-20
申请号：US15221152
申请日：2016-07-27
Applicant: Cognex Corporation
Inventor： Tuotuo Li , Lifeng Liu , Cyril C. Marrion
Abstract: Disclosed herein are systems and methods for machine vision. A machine vision system includes a motion rendering device, a first image sensor, and a second image sensor. The machine visions system includes a processor configured to run a computer program stored in memory that is configured to determine a first transformation that allows mapping between the first coordinate system associated with the motion rendering device and the second coordinate system associated with the first image sensor, and to determine a second transformation that allows mapping between the first coordinate system associated with the motion rendering device and the third coordinate system associated with the second image sensor.
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