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公开(公告)号：US10097777B2
公开(公告)日：2018-10-09
申请号：US15173011
申请日：2016-06-03
发明人： Simon Melikian
摘要： A system for generating a depth map for an object in a three-dimensional (3D) scene includes an image capture sensor and a processor. The image capture sensor is configured to capture a plurality of images of the object at a plurality of different focal planes. The processor is configured to calculate a plurality of variance values for a plurality of image locations for each image captured by the image capture sensor. The processor is also configured to determine a peak variance value for the plurality of image locations based on the calculated variance values associated with the same image location for each of the plurality of images of the object at the plurality of different focal planes. The processor is also configured to generate the depth map for the object based on the determined peak variance value for each image location and the plurality of different focal planes.
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公开(公告)号：US09990685B2
公开(公告)日：2018-06-05
申请号：US15075361
申请日：2016-03-21
发明人： Simon Melikian , Stefano Cristiano
CPC分类号： G06T1/0014 , B25J9/1687 , G05B2219/37561 , G05B2219/40053 , G05B2219/45063 , G06K9/3241 , G06N99/005 , G06T7/344 , H04N5/23229
摘要： An automated guidance system for a coordinated movement machine includes a camera and a processor. The camera is mounted to a movable component of the coordinated movement machine. The processor is configured to visually recognize individual workpieces among a plurality of similarly shaped workpieces using a program running on the processor. The processor is further configured to determine x, y and z and Rx, Ry and Rz of the movable component with respect to each recognized workpiece among the plurality of recognized workpieces, and to move the movable component of the coordinated movement machine after determining x, y and z and Rx, Ry and Rz of the movable component.
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3.发明授权公开(公告)号：US09138895B2
公开(公告)日：2015-09-22
申请号：US14152512
申请日：2014-01-10
申请人： Simon Melikian
发明人： Simon Melikian
CPC分类号： B25J9/1664 , B23Q3/15546 , B25J9/08 , B25J9/1669 , B25J19/023 , G05B2219/36362 , G05B2219/39468 , G05B2219/39484 , G05B2219/39571 , G05B2219/40284 , G05B2219/40538 , G05B2219/50276 , Y10S901/02 , Y10S901/47
摘要： A method for picking up an article using a robot arm includes capturing images with a camera and processing the captured images to locate a machine-readable symbol affixed to the article. The machine-readable symbol includes an orientation pattern and encoded information pertaining to the article. The orientation pattern provides information to determine x, y, and z coordinates and Rx, Ry and Rz of a gripping tool attached to the robot arm. The encoded information provides information to determine the appropriate gripping tool, gripping location and gripping motion path.
摘要翻译： 使用机器人手臂拾取物品的方法包括用相机拍摄图像并处理所捕获的图像以定位附着在物品上的机读符号。 机器可读符号包括定向模式和与文章有关的编码信息。 定向图案提供了确定附接到机器人手臂的夹持工具的x，y和z坐标以及Rx，Ry和Rz的信息。 编码信息提供信息以确定适当的夹持工具，夹持位置和夹持运动路径。
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公开(公告)号：US09019488B2
公开(公告)日：2015-04-28
申请号：US13925022
申请日：2013-06-24
发明人： Simon Melikian
IPC分类号： G01B11/275
CPC分类号： G01B11/2755 , G01B2210/14
摘要： A method for measuring wheel alignment of a test wheel rotating about a z-axis using at least one camera and a processor includes obtaining a calibration point from a calibration image of a zero-offset wheel that is the same size as the test wheel and that rotates about the z-axis, obtaining at least one test image of the test wheel with the camera and a non-structured light source, and locating a measurement point in the test image. The measurement point coincides with a radius that the calibration point is offset from the z-axis and the angular displacement of the calibration point from the vertical diameter of the zero-offset wheel. The measurement point is further located based on a change of reflectivity between other points in the test image adjacent the measurement point.
摘要翻译： 用于使用至少一个照相机和处理器来测量围绕z轴旋转的测试轮的轮对准的方法包括从与测试轮相同尺寸的零偏移轮的校准图像获得校准点， 围绕z轴旋转，使用相机和非结构化光源获得测试轮的至少一个测试图像，并将测量点定位在测试图像中。 测量点与校准点偏离z轴和校准点与零点偏移轮的垂直直径的角位移的半径重合。 基于与测量点相邻的测试图像中的其它点之间的反射率的变化，进一步定位测量点。
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公开(公告)号：US08923602B2
公开(公告)日：2014-12-30
申请号：US12177529
申请日：2008-07-22
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/37561 , G05B2219/39397 , G05B2219/40003 , G06K9/4609 , G06K9/4671 , G06K9/6202 , G06K2209/29
摘要： Disclosed herein are embodiments and methods of a visual guidance and recognition system requiring no calibration. One embodiment of the system comprises a servo actuated manipulator configured to perform a function, a camera mounted on the face plate of the manipulator, and a recognition controller configured to acquire a two dimensional image of the work piece. The manipulator controller is configured to receive and store the face plate position at a distance “A” between the reference work piece and the manipulator along an axis of the reference work piece when the reference work piece is in the camera's region of interest. The recognition controller is configured to learn the work piece from the image and the distance “A”. During operation, a work piece is recognized with the system, and the manipulator is accurately positioned with respect to the work piece so that the manipulator can accurately perform its function.
摘要翻译： 这里公开了不需要校准的视觉指导和识别系统的实施例和方法。 该系统的一个实施例包括被配置为执行功能的伺服驱动的操纵器，安装在操纵器的面板上的照相机以及被配置为获取工件的二维图像的识别控制器。 操纵器控制器构造成当参考工件处于相机的感兴趣区域中时，沿着参考工件的轴线接收并存储面板位置在参考工件和操纵器之间的距离“A”处。 识别控制器被配置为从图像学习工件和距离“A”。 在操作期间，系统识别出工件，并且操纵器相对于工件被精确地定位，使得操纵器能够准确地执行其功能。
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公开(公告)号：US20140135989A1
公开(公告)日：2014-05-15
申请号：US13673256
申请日：2012-11-09
发明人： Simon Melikian , Jeremy Hughes , Brian Zagar
CPC分类号： B25J9/1697 , B23B49/00 , B25J11/005 , B25J19/022 , G01B11/14 , G05B19/0405 , G05B2219/45059 , G05D15/00 , Y10S901/02 , Y10S901/41 , Y10S901/47
摘要： An industrial robot system includes an end effector connectable to a robot arm, a drive assembly, and a controller. The end effector includes a distal housing, a spindle assembly rotatable about a rotational axis, a drill bit rotatable about the rotational axis, and a sensor assembly. The sensor assembly includes a first light source, a second light source, and a photosensitive array. The first light source produces a first fan of light which is projected as a first line of light on the object surface. The second light source produces a second fan of light, which is projected as a second line of light on the object surface. The photosensitive array detects a first reflection line corresponding to the first line of light and a second reflection line corresponding to the second line of light.
摘要翻译： 工业机器人系统包括可连接到机器人臂的端部执行器，驱动组件和控制器。 末端执行器包括远侧壳体，可围绕旋转轴线旋转的心轴组件，可围绕旋转轴线旋转的钻头和传感器组件。 传感器组件包括第一光源，第二光源和光敏阵列。 第一光源产生作为物体表面上的第一光线投影的第一光源风扇。 第二光源产生光的第二扇形，其作为物体表面上的第二条光线投影。 光敏阵列检测对应于第一光线的第一反射线和对应于第二光线的第二反射线。
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公开(公告)号：US08280764B2
公开(公告)日：2012-10-02
申请号：US12572629
申请日：2009-10-02
申请人： Simon Melikian
发明人： Simon Melikian
IPC分类号： G06Q30/00
CPC分类号： G06Q30/02 , G06Q30/0211 , G06Q30/0224 , G06Q30/0238
摘要： A method for delivering an electronic coupon to a mobile device includes receiving via a wireless network a target image or icons extracted from the target image, comparing the target image to a plurality of learned images using a processor in communication with the wireless network, determining whether the target image matches at least one learned image, and when the target image matches at least one learned image, delivering to the mobile device over the wireless network an electronic coupon associated with the at least one learned image. The target image can represent at least a portion of a front surface of a consumer packaged good located in a retail outlet. The target image can be generated using a mobile device configured to communicate with the wireless network. The front surface of the consumer packaged good is the surface of the consumer packaged good that faces an aisle of the retail outlet carrying the consumer packaged good; accordingly, the consumer does not need to handle the consumer packaged good in search of a bar code.
摘要翻译： 一种用于将电子优惠券递送到移动装置的方法包括经由无线网络接收从目标图像提取的目标图像或图像，使用与无线网络通信的处理器将目标图像与多个学习图像进行比较，确定是否 目标图像匹配至少一个学习图像，并且当目标图像与至少一个学习图像匹配时，通过无线网络向移动设备递送与至少一个学习图像相关联的电子优惠券。 目标图像可以代表位于零售商店中的消费者包装商品的前表面的至少一部分。 可以使用被配置为与无线网络通信的移动设备来生成目标图像。 消费者包装良好的前表面是面向消费者包装好零售店的通道的消费者包装良好的表面; 因此，消费者不需要处理消费者包装的商品来搜索条形码。
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公开(公告)号：US20110052046A1
公开(公告)日：2011-03-03
申请号：US12941706
申请日：2010-11-08
申请人： Simon Melikian
发明人： Simon Melikian
IPC分类号： G06K9/62
CPC分类号： G06K9/3275 , G06K9/00798 , G06K9/00818 , G06K9/3241 , G06K9/48 , G06K9/6204
摘要： Disclosed is method of visual search for objects that include straight lines. A two-step process is used, which includes detecting straight line segments in an image. The lines are generally characterized by their length, midpoint location, and orientation. Hypotheses that a particular straight line segment belongs to a known object are generated and tested. The set of hypotheses is constrained by spatial relationships in the known objects. The speed and robustness of the method and apparatus disclosed makes it immediately applicable to many computer vision applications.
摘要翻译： 公开了对包括直线的物体进行视觉搜索的方法。 使用两步过程，其包括检测图像中的直线段。 线条通常以其长度，中点位置和方向为特征。 生成并测试特定直线段属于已知对象的假设。 该组假设受到已知对象中的空间关系的约束。 所公开的方法和装置的速度和鲁棒性使其立即适用于许多计算机视觉应用。
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公开(公告)号：US08150165B2
公开(公告)日：2012-04-03
申请号：US12101583
申请日：2008-04-11
申请人： Simon Melikian
发明人： Simon Melikian
IPC分类号： G06K9/46
CPC分类号： G06K9/4671 , G06K9/4609 , G06K9/6202 , G06K2209/29
摘要： A method for visual recognition of an object in an electronic image includes extracting unique points of an object to be learned and/or a target object. The unique points are obtained by cross-correlating the image with a structure. Generally, the structure and/or the size of the structure may vary to detect extremum information associated with the learned object and/or target object. An icon corresponding to each of the unique points is extracted. The size of the icon corresponds to the scale of the unique point. After extraction of the various icons, an object becomes a collection of icons. Each of these icons is un-rotated and normalized or resized to a constant size so it can be compared with other icons. One of the unique properties of these icons is their stability over scale and angle. Thus, this invention allows the recognition of an image(s) or object(s) from large number of trained images or objects very quickly.
摘要翻译： 一种用于电子图像中的对象的视觉识别的方法包括提取待学习对象和/或目标对象的唯一点。 通过将图像与结构相互关联获得独特的点。 通常，结构的结构和/或尺寸可以变化以检测与被学习的对象和/或目标对象相关联的极值信息。 提取与每个唯一点对应的图标。 图标的大小对应于唯一点的比例。 提取各种图标后，对象将成为图标的集合。 这些图标中的每一个都是未旋转的，并被归一化或调整到一个恒定的大小，所以它可以与其他图标进行比较。 这些图标的独特属性之一是它们在尺度和角度上的稳定性。 因此，本发明允许非常快速地从大量训练的图像或物体识别图像或物体。
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公开(公告)号：US08144193B2
公开(公告)日：2012-03-27
申请号：US12367967
申请日：2009-02-09
申请人： Simon Melikian
发明人： Simon Melikian
IPC分类号： H04N7/18
CPC分类号： B23K9/32 , B23K31/125 , G05B19/41875 , G05B2219/37074 , G05B2219/37212 , G05B2219/37559 , G05B2219/42337 , G05B2219/45135 , G06T7/74 , G06T2207/30164 , G06T2207/30204
摘要： A system and method of visual monitoring of a work implement (e.g., a welding torch) while a task is being performed (e.g., forming a welding joint) to train workers (e.g., apprentices, inexperienced workers) in proper welding technique, for example) and/or to evaluate the worker's use of a particular work implement (e.g., to determine if the welding torch was held in a desired relationship to the items being welded together, determine if the welding torch formed the joint at the current speed, etc.). In general, one or more cameras may acquire images of a target secured to and/or formed on the work implement. The images may be analyzed to provide feedback to the user, to be evaluated for weld integrity purposes; and/or may be used to compare the performance of a task (e.g., forming a welding joint) with a database of one or more profiles made by experienced and/or expert craftsmen.
摘要翻译： 例如，在正在执行任务（例如，形成焊接接头）的情况下，对工件（例如，焊炬）进行视觉监控的系统和方法，以适当的焊接技术来训练工人（例如学徒，没有经验的工人） ）和/或评估工人对特定工作工具的使用（例如，确定焊炬是否与焊接在一起的物品保持期望的关系，确定焊炬是否以当前速度形成接头等 。）。 通常，一个或多个相机可以获取固定到和/或形成在作业工具上的目标的图像。 可以分析图像以向用户提供反馈，以评估焊接完整性目的; 和/或可用于将任务（例如，形成焊接接头）的性能与由有经验的和/或专家技术人员制成的一个或多个简档的数据库进行比较。
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