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    System and method for efficient surface measurement using a laser displacement sensor
    1.
    发明授权
    System and method for efficient surface measurement using a laser displacement sensor 有权

    公开(公告)号：US10775160B2

    公开(公告)日：2020-09-15

    申请号：US16056348

    申请日：2018-08-06

    申请人： Cognex Corporation

    发明人： Robert A. Wolff ,  Michael C. Moed ,  Mikhail Akopyan ,  Robert Tremblay ,  Willard Foster ,  Aaron S. Wallack

    IPC分类号： G01B11/25 ,  G01B11/02 ,  G06T7/73 ,  G06K9/20 ,  G06K9/32 ,  G06T5/00 ,  G05B15/02

    摘要： This invention provides a system for measuring displacement of an object surface having a displacement sensor that projects a line on the object surface and receives light from the projected line at an imager in a manner defines a plurality of displacement values in a height direction. A vision system processor operates on rows of imager pixels to determine a laser line center in columns of imager pixels in each of a plurality of regions of interest. Each region of interest defines a plurality of rows that correspond with expected locations of the projected line on the object surface. A GUI can be used to establish the regions. In further embodiments, the system generates grayscale images with the imager. These grayscale images can be compared to a generated height image to compensate for contrast-induced false height readings. Imager pixels can be compared to a reference voltage to locate the line.

    System and method for high-accuracy measurement of object surface displacement using a laser displacement sensor
    4.
    发明授权
    System and method for high-accuracy measurement of object surface displacement using a laser displacement sensor 有权
    使用激光位移传感器对物体表面位移进行高精度测量的系统和方法

    公开(公告)号：US09488469B1

    公开(公告)日：2016-11-08

    申请号：US14257628

    申请日：2014-04-21

    申请人： Cognex Corporation

    发明人： David J. Michael ,  Aaron S. Wallack

    IPC分类号： G01B11/14

    CPC分类号： G01B21/045 ,  G01B11/25

    摘要： This invention provides a system and method for the high-accuracy measurement of an object's surface displacement at a plurality of measurement points using a laser displacement sensor and a sensor process that corrects for noise and other accuracy-reducing factors. A camera assembly with an imager and optics package acquires images of an object surface, and a laser assembly projects a line on the object surface. These tasks can include (a) defining patches of the surface based upon a grid; (b) registering the object and aligning the grid with respect to the object; (c) excluding from the analysis of the image, irregular surface features; (d) oversampling one or more patches to improve overall accuracy; (e) specifying measurement resolution (i.e. in the (x, y z) dimensions), including choosing appropriate pixel sizes and number of measurements per measurement point; and (f) selecting optimal acquisition/image formation parameters.

    摘要翻译： 本发明提供一种用于使用激光位移传感器和用于校正噪声等精度降低因素的传感器处理来在多个测量点处对象的表面位移的高精度测量的系统和方法。 具有成像器和光学组件的相机组件获取物体表面的图像，并且激光组件在物体表面上投影线。 这些任务可以包括（a）基于网格定义曲面的补片; （b）登记物体并使格栅相对于物体对齐; （c）从图像分析中排除不规则表面特征; （d）对一个或多个补丁进行过采样以提高总体精度; （e）指定测量分辨率（即，（x，y z）维度），包括选择合适的像素尺寸和每个测量点的测量次数; 和（f）选择最佳采集/成像参数。

    SYSTEM AND METHOD FOR EFFICIENT SURFACE MEASUREMENT USING A LASER DISPLACEMENT SENSOR
    6.
    发明申请
    SYSTEM AND METHOD FOR EFFICIENT SURFACE MEASUREMENT USING A LASER DISPLACEMENT SENSOR 审中-公开

    公开(公告)号：US20190265027A1

    公开(公告)日：2019-08-29

    申请号：US16056348

    申请日：2018-08-06

    申请人： Cognex Corporation

    发明人： Robert A. Wolff ,  Michael C. Moed ,  Mikhail Akopyan ,  Robert Tremblay ,  Willard Foster ,  Aaron S. Wallack

    IPC分类号： G01B11/25 ,  G06T5/00 ,  G06K9/32 ,  G06T7/73 ,  G01B11/02 ,  G06K9/20

    摘要： This invention provides a system for measuring displacement of an object surface having a displacement sensor that projects a line on the object surface and receives light from the projected line at an imager in a manner defines a plurality of displacement values in a height direction. A vision system processor operates on rows of imager pixels to determine a laser line center in columns of imager pixels in each of a plurality of regions of interest. Each region of interest defines a plurality of rows that correspond with expected locations of the projected line on the object surface. A GUI can be used to establish the regions. In further embodiments, the system generates grayscale images with the imager. These grayscale images can be compared to a generated height image to compensate for contrast-induced false height readings. Imager pixels can be compared to a reference voltage to locate the line.

    System and method for calibrating one or more 3D sensors mounted on a moving manipulator
    9.
    发明授权
    System and method for calibrating one or more 3D sensors mounted on a moving manipulator 有权

    公开(公告)号：US10812778B1

    公开(公告)日：2020-10-20

    申请号：US15232787

    申请日：2016-08-09

    申请人： Cognex Corporation

    发明人： Ruibing Wang ,  Aaron S. Wallack ,  David J. Michael ,  Hongwei Zhu

    IPC分类号： H04N13/246 ,  G06T7/80 ,  G06T7/73 ,  G06T7/20 ,  G06T7/60

    摘要： This invention provides a system and method for concurrently (i.e. non-serially) calibrating a plurality of 3D sensors to provide therefrom a single FOV in a vision system that allows for straightforward setup using a series of relatively straightforward steps that are supported by an intuitive graphical user interface (GUI). The system and method requires minimal data input about the scene or calibration object used to calibrate the sensors. 3D features of a stable object, typically employing one or more subobjects, are first measured by one of the image sensors, and then the feature measurements are used in a calibration in which each of the 3D sensors images a discrete one of the subobjects, resolves features thereon and computes a common coordinate space between the plurality of 3D sensors. Sensor(s) can be mounted on the arm of an encoderless robot or other conveyance and motion speed can be measured in setup.

    System and method for calibrating a plurality of 3D sensors with respect to a motion conveyance
    10.
    发明授权
    System and method for calibrating a plurality of 3D sensors with respect to a motion conveyance 有权

    公开(公告)号：US10757394B1

    公开(公告)日：2020-08-25

    申请号：US14936616

    申请日：2015-11-09

    申请人： Cognex Corporation

    发明人： Ruibing Wang ,  Aaron S. Wallack ,  David J. Michael ,  Hongwei Zhu

    IPC分类号： G06T7/80 ,  H04N17/00 ,  H04N13/246 ,  G06T7/20 ,  G06K9/52 ,  G06T7/60 ,  G06T7/00

    摘要： This invention provides a system and method for concurrently (i.e. non-serially) calibrating a plurality of 3D sensors to provide therefrom a single FOV in a vision system that allows for straightforward setup using a series of relatively straightforward steps that are supported by an intuitive graphical user interface (GUI). The system and method requires minimal input significant data about the imaged scene or calibration object used to calibrate the sensors, thereby effecting a substantially “automatic” calibration procedure. 3D features of a stable object, typically employing a plurality of 3D subobjects are first measured by one of the plurality of image sensors, and then the feature measurements are used in a calibration in which each of the 3D sensors images a discrete one of the subobjects, resolves features thereon and computes a common coordinate space between the plurality of 3D sensors. Laser displacement sensors and a conveyor/motion stage can be employed.