System and Method for Automated Artificial Vision Guided Dispensing Viscous Fluids for Caulking and Sealing Operations
AssigneeMacdonald, Dettwiler and Associates Inc.
InventorsLimin Shang, Adam Neil Philip, Piotr Jasiobedzki, Mark Patrick Barnet, Timothy Reedman
Life of this patent
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Abstract
The present disclosure provides a method and system by which a precise amount of a viscous fluid sealing compound can be dispensed at required locations through computer vision-based observation of the fluid deposited, its rate and amount of deposition and location; and that the dispensed fluid may be accurately shaped through robotic or other special purpose mechanism motion. The invention enables instant quality inspection of the dispensing process in terms of the locations, amounts and shapes of newly created seals.
Claims48
A real-time computer implemented method for automated part sealing, comprising:
- acquiring real-time visual images of one or more parts to be sealed;
- detecting at least one feature associated with a part to be sealed;
- computing a position and orientation of the at least one feature relative to a dispensing device mounted to a robotic arm;
- moving the robotic arm to position the dispensing system in a preselected location and orientation with respect to the at least one feature;
- and
- controlling an amount of sealant being dispensed based on real-time processing of the visual images of the sealant being dispensed which are acquired during dispensing of the sealant to produce a seal.
A vision guided dispensing system for sealing one or more parts, comprising:
- a housing having a dispensing device mounted to said housing, said dispensing device having a dispensing nozzle;
- a vision sensor mounted on said housing;
- and
- a vision processor interfaced with said dispensing device and said vision sensor, said vision processor being programmed with instructions for real-time processing of images of the one or more parts being sealed and said dispensing nozzle and to determine a position said dispensing nozzle needs to be positioned with respect to said feature prior to dispensing sealant, said vision processor being programmed to acquire images of said dispensing nozzle while a sealant is being dispensed by said dispensing device, said vision processor being programmed with instructions to determine, from said real-time processed images, whether or not sufficient sealant has been dispensed and to control the dispensing device when to initiate, and stop dispensing of sealant.
A sealing system for automated artificial vision-guided dispensing of viscous fluids for caulking and sealing operations around various features on a part, comprising:
- a mobile platform for gross positioning of said system relative to said part containing said features;
- a dispensing device for applying sealant to said feature;
- a positioning device mounted on said mobile platform to which said dispensing device is attached for positioning the dispensing device relative to said feature;
- a sensing device for determining the position of the mobile platform relative to said part;
- a second sensing device for determining the position of said feature on said part with respect to the dispensing device and also determining the required amount of sealant to be dispensed based on visual images of the sealant being dispensed;
- and
- a controller for controlling said positioning device and said dispensing device based on feedback from said second sensing device.
Dependencies are inferred from the claim text.