Automated assembly and packaging system

A method for picking up objects from a moving object conveyor belt and transferring them to destinations on a moving destination conveyor belt, comprising:

• receiving a pixel image of a first object vision window image portion of said object belt containing images of said objects using first object image-receiving means;
• digitizing said first object vision window image by assigning a gray scale level and a coordinate location to the pixels in said first object vision window image;
• electronically determining and transmitting, utilizing first data transmission mean, the locations of at least one of said objects represented by object images in said first object vision window image to a first motion controller directing a first robot means associated with said first object image-receiving means located in the direction of belt travel with respect to said first object image-receiving means;
• receiving a pixel image of a first destination vision window image portion of said destination belt containing images of said destinations using first destination image-receiving means;
• digitizing said first destination vision window image by assigning a gray scale level and a coordinate location to the pixels in said first destination vision window image;
• electronically determining and transmitting, utilizing first data transmission means, the locations of at least one of said destinations represented by destination images in said first destination vision window image to said first motion controller;
• picking up at least one of said objects represented by object images in said first object vision window, image, the locations of which were transmitted to said first motion controller, using said first robot means;
• placing said at least one of said objects to at least one of said destinations represented by destination images in said first destination vision window, the locations of which were transmitted to said first motion controller, using said first robot means;
• transmitting, utilizing second data transmission means, the locations of at least one of the objects represented by object images in said first object vision window image which were not picked up by said first robot means, from said first motion controller to a second motion controller directing a second robot means associated with said first object image-receiving means located in the direction of belt travel with respect to said first robot means;
• transmitting, utilizing said second data transmission means, the locations of at least one of the destinations represented by destination images in said first destination vision window image to which no object was placed by said first robot means, from said first motion controller to said second motion controller;
• picking up at least one of said objects represented by object images in said first object vision window image, the locations of which were transmitted to said second motion controller, using said second robot means;
• and
• placing said at least one of said objects represented by object images in said first object vision window image, the locations of which were transmitted to said second motion controller, to at least one of said destinations represented by destination images in said first destination vision window, the locations of which were transmitted to said second motion controller, using said second robot means.