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公开(公告)号：US11176655B2
公开(公告)日：2021-11-16
申请号：US14329752
申请日：2014-07-11
申请人： Cognex Corporation
摘要： This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
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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
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.
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公开(公告)号：US09605950B2
公开(公告)日：2017-03-28
申请号：US14149774
申请日：2014-01-07
申请人： Cognex Corporation
发明人： Robert A. Wolff , Michael C. Moed , Mikhail Akopyan , Robert Tremblay , Willard Foster , Aaron S. Wallack
CPC分类号： G01B11/2522 , G01B11/026 , G05B15/02 , G06K9/2081 , G06K9/3233 , G06T5/005 , G06T7/74 , G06T2200/24 , G06T2207/20072
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.
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公开(公告)号：US12079978B2
公开(公告)日：2024-09-03
申请号：US17526865
申请日：2021-11-15
申请人： Cognex Corporation
CPC分类号： G06T7/0004 , G01B11/0608 , G01S7/4802 , G01S17/42 , G01S17/48 , G01S17/89 , G06T7/44 , G06T2207/10028 , G06T2207/30224
摘要： This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
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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
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.
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公开(公告)号：US20170299380A1
公开(公告)日：2017-10-19
申请号：US15456676
申请日：2017-03-13
申请人： Cognex Corporation
发明人： Robert A. Wolff , Michael C. Moed , Mikhail Akopyan , Robert Tremblay , Willard Foster , Aaron S. Wallack
CPC分类号： G01B11/2522 , G01B11/026 , G05B15/02 , G06K9/2081 , G06K9/3233 , G06T5/005 , G06T7/74 , G06T2200/24 , G06T2207/20072
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.
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7.发明申请SYSTEM AND METHOD FOR DETERMINING 3D SURFACE FEATURES AND IRREGULARITIES ON AN OBJECT 审中-公开用于确定对象上的3D表面特征和不正常性的系统和方法公开(公告)号：US20150213606A1
公开(公告)日：2015-07-30
申请号：US14329752
申请日：2014-07-11
申请人： Cognex Corporation
CPC分类号： G06T7/0004 , G01B11/0608 , G01S7/4802 , G01S17/42 , G01S17/48 , G01S17/89 , G06T7/44 , G06T2207/10028 , G06T2207/30224
摘要： This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
摘要翻译： 本发明提供了一种用于确定某些表面特征的位置和特性的系统和方法，其包括相对于物体上光滑的周围表面的升高或凹陷区域。 滤镜作用于场景的范围图像。 过滤器限定围绕最佳配合表面建立的每个像素周围的环形或其他周边形状。 像素的法线允许派生局部位移高度。 位移高度用于建立物体的高度偏差图像，可以确定凸起，凹痕或其他高度位移特征。 碰撞过滤器可用于通过将这种不规则性映射到网格然后对网格进行阈值化以产生成本函数来定位具有最小不规则性的表面上的区域。 具有最低成本的区域是应用标签和其中需要光滑表面的其它物品的可接受的候选者。
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8.发明申请SYSTEM AND METHOD FOR EFFICIENT SURFACE MEASUREMENT USING A LASER DISPLACEMENT SENSOR 有权使用激光位移传感器进行有效表面测量的系统和方法公开(公告)号：US20140347473A1
公开(公告)日：2014-11-27
申请号：US14149774
申请日：2014-01-07
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： H04N7/18
CPC分类号： G01B11/2522 , G01B11/026 , G05B15/02 , G06K9/2081 , G06K9/3233 , G06T5/005 , G06T7/74 , G06T2200/24 , G06T2207/20072
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.
摘要翻译： 本发明提供了一种用于测量具有位移传感器的物体表面的位移的系统，该位移传感器在物体表面上突出一条线，并且在成像器处以在高度方向上限定多个位移值的方式从投影线接收光。 视觉系统处理器对成像器像素行进行操作，以确定多个感兴趣区域中的每一个中的成像器像素的列中的激光线中心。 每个感兴趣区域定义与对象表面上的投影线的预期位置相对应的多个行。 可以使用GUI来建立区域。 在另外的实施例中，系统利用成像器生成灰度图像。 这些灰度图像可以与生成的高度图像进行比较，以补偿对比度引起的假高度读数。 可以将成像器像素与参考电压进行比较以定位线。
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9.发明授权公开(公告)号：US11562502B2
公开(公告)日：2023-01-24
申请号：US16876551
申请日：2020-05-18
申请人： Cognex Corporation
发明人： Aaron S. Wallack , Gang Liu , Robert A. Wolff , David J. Michael , Ruibing Wang , Hongwei Zhu
IPC分类号： G06T7/80 , G06T7/246 , G01B11/25 , H04N13/246
摘要： This invention provides an easy-to-manufacture, easy-to-analyze calibration object which combines measurable and repeatable, but not necessarily accurate, 3D features—such as a two-sided calibration object/target in (e.g.) the form of a frustum, with a pair of accurate and measurable features, more particularly parallel faces separated by a precise specified thickness, so as to provide for simple field calibration of opposite-facing DS sensors. Illustratively, a composite calibration object can be constructed, which includes the two-sided frustum that has been sandblasted and anodized (to provide measurable, repeatable features), with a flange whose above/below parallel surfaces have been ground to a precise specified thickness. The 3D corner positions of the two-sided frustum are used to calibrate the two sensors in X and Y, but cannot establish absolute Z without accurate information about the thickness of the two-sided frustum; the flange provides the absolute Z information.
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公开(公告)号：US20220180499A1
公开(公告)日：2022-06-09
申请号：US17526865
申请日：2021-11-15
申请人： Cognex Corporation
摘要： This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
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