VISION SYSTEM FOR TRAINING AN ASSEMBLY SYSTEM THROUGH VIRTUAL ASSEMBLY OF OBJECTS

摘要

This invention provides a system and method for guiding the workpieces to optimal positions to train an assembly system that is generally free of the use of a CMM or similar metrology device. The system and method expresses the image features of the workpieces, when they are in their respective stations, in a common coordinate system. This ability allows a user to visualize the result of assembling the workpieces without actually assembling them, in a “virtual assembly”. The virtual assembly assists guiding placement of workpieces in respective stations into a desired relative alignment. The system and method illustratively generates a composite image using the images from cameras used in guiding the workpieces that helps the user visualize how the part would appear following assembly. The user can reposition the images of workpieces in their respective stations until the composite image has a desired appearance.

主权项

1. A system for virtual assembly of an object in an assembly system having at least a first station containing a first workpiece, the assembly system assembling a second workpiece to the first workpiece in alignment therebetween, the system comprising:
one or more vision system cameras and a vision system processor assembly arranged to image the first workpiece and the second workpiece, the plurality of cameras being calibrated to a common coordinate system; an alignment process that generates at least one of images and features of the first workpiece and the second workpiece in the common coordinate system; a manipulation process, having vision tools that locate a first set of features on the first workpiece and a second set of features on the second workpiece, that automatically aligns the first set of features with respect to the second set of features so as to align at least one of images and features of the first workpiece and the second workpiece; and an assembly error computation module that computes an assembly error based on a degree of manipulation of the first workpiece and the second workpiece by the manipulation process during the virtual assembly process.