US 4,941,182 A · Vision system and method for automated painting equipment

Abstract

A machine vision system used with automated painting equipment for object identification, intrustion-sensing and clearance monitoring. The vision system includes one or more cameras mounted at convenient clean locations where unique or distinctive visual attributes or features of the objects to be painted (such as automotive vehicle bodies or parts thereof) and the automated painting equipment may be seen. The camera acquires successive images of a first scene which includes at least a first movable object to be identified. Image processing steps performed on each image from the camera include recognizing selected pictorial attributes or features of the object and comparing the recognized attributes of the first object with corresponding reference data from a set of reference information about the object previously stored in the system. When a match between the reference data and the recognized attributes occurs, the vision system provides signals to programmable controllers which operate the automated painting equipment. Portions of the visual information acquired and/or generated by the vision system are selectively displayed upon one or more CRT monitors so that an operator/observer can verify correct operation of the vision system.

Claims47

Dependent claims

Vision apparatus for automated painting equipment, comprising:

(a) at least one camera means for acquiring successive images of a first scene from a first portion of the painting equipment including at least a first movable object to be identified via selected pictorial attributes thereof;
and
(b) an image analysis system for digitally processing successive images received from said camera means, said system including (1) means for recognizing selected pictorial attributes of the first object when such attributes are present in at least one of the successive images (2) means for comparing the recognized attributes of the first object with corresponding reference data from a first set of information previously stored in the system, and (3) means for identifying the first object as being present in the first scene when a match within a predetermined first tolerance exists between at least one of the recognized pictorial attributes and corresponding reference data from the first set of information.

A method of using a machine vision system in connection with the operation of automatic painting equipment, comprising the steps of:

(a) acquiring, through the use of at least one camera means, successive images of a first scene associated with at least a first portion of the automated painting equipment, the first scene from time to time including therein at least a first movable object having selected pictorial attributes;
and
(b) processing successive images received from the camera means using an image analysis system by (1) recognizing selected pictorial attributes of the first object within the first scene, (2) comparing the recognized attributes of the first object with corresponding reference data from a first set of information previously stored in the image analysis system, and (3) identifying the first object as being present in the scene when a match within a predetermined first tolerance exists between at least one of the recognized attributes and the corresponding reference data from the first set of information.

Vision apparatus for automated painting equipment which paints automotive body parts passed thereby on an automated conveying system, comprising:

(a) at least one camera means for acquiring successive images of a first scene from a first portion of the painting equipment including at least a first movable automotive body part to be identified via selected pictorial attributes thereof;
and
(b) an image analysis system for digitally processing successive images received from said camera means, said system including (1) means for recognizing selected pictorial attributes of the first body part when such attributes are present in at least one of the successive images, (2) means for comparing the recognized attributes of the first body part with corresponding reference data from a first set of information derived at least in part from images of a prototypical first automotive body part previously stored in the system, and (3) means for identifying the first body part as being present in the first scene when a match within a predetermined first tolerance exists between at least a plurality of recognized pictorial attributes and corresponding reference data from the first set of information;
and
(c) means for communicating to the automated painting equipment that the first body part has been positively identified as being present in the first scene, the means for communicating including a two dimensional image display means for displaying at least part of the scene containing the first body part for which a positive identification has been made.

2 more elements

Vision apparatus for automated painting equipment which paints automotive body parts passed thereby on an automated conveying system, comprising:

(a) camera means for acquiring successive images of a first scene from a first portion of the painting equipment, which scene typically includes from time to time at least a first movable automotive body part passing therethrough, but which may include a human being entering therein;
and
(b) an image analysis system for digitally processing successive images received from said camera means, said system including (1) means for recognizing selected pictorial attributes of the human being when such attributes are present in at least one of the successive images, (2) means for comparing the recognized attributes of the human being with corresponding reference data from a first set of information derived at least in part from images of a prototypical first automotive body part previously stored in the system, and (3) means for identifying the human being as being present in the first scene when a match within a predetermined first tolerance exists between at least a plurality of recognized pictorial attributes and corresponding reference data from the first set of information;
and
(c) means for communicating to the automated painting equipment that the presence of a human being has been detected in the first scene.

2 more elements

Vision apparatus for automated painting equipment which paints automotive body parts passed thereby on an automated conveying system, comprising:

(a) camera means for acquiring successive images of a first scene from a first portion of the painting equipment including at least a first automotive body part moving in a first direction and to be identified via selected pictorial attributes thereof and including at least one object forming part of a painting machine which moves in a second direction transverse to the first direction;
and
(b) an image analysis system for digitially processing successive images received from said camera means, said system including (1) means for recognizing selected pictorial attributes of the first body part when such attributes are present in at least one of the successive images, (2) means for comparing the recognized attributes of the first body part with corresponding reference data from a first set of information derived at least in part from images of a prototypical first automotive body part previously stored in the system, (3) means for determining the relative location of at least part of the first body part within the first scene when a match within a predetermined first tolerance exists between at least a plurality of recognized pictorial attributes and corresponding reference data from the first set of information, (4) means for recognizing selected pictorial attributes of the object forming part of the painting machine when such attributes are present in at least one of the successive images at the same time selected attributes of the first object are present therein, (5) means for comparing the recognized attributes of the object with corresponding reference data from a second set of information about the object previously stored in the system, and (6) means for determining the relative location of at least part of the painting machine within the first scene when a match within a predetermined first tolerance exists between at least a plurality of recognized pictorial attributes of the object and corresponding reference data from the second set of information, and (7) means for determining from at least one of the successive images an actual distance between a selected portion of the painting machine and a portion of the body part nearby the selected portion of the painting machine based at least in part upon the determined relative locations of object and the first body part;
and
(c) means for communicating to the automated painting equipment information related to the value of the determined distance, whereby the actual distance between the selected portion of the painting machine and the selected portion of the first body part can be adjusted if necessary.

2 more elements

Dependencies are inferred from the claim text.

Vision system and method for automated painting equipment

Life of this patent

Vision system and method for automated painting equipment

Life of this patent

Abstract

Claims47