| 摘要 |
A method and apparatus for assembly verification is disclosed. A measurement of the 3D position of each subcomponent is performed using triangulation from three cameras acquiring images simultaneously. An operator trains one 2D model, correspond to the same subcomponent of the assembly, per camera. At run-time, models are registered in each camera view so as to provide measured 3D position of the subcomponents. Then, measured 3D positions are compared with expected nominal 3D positions, and differences in 3D position are checked against tolerances. The invention simplifies the task of assembly verification, requiring only multiple cameras fixed above an assembly line. After minor operator activity, the invention can then perform assembly verification automatically. Since the invention can perform fixtureless assembly verification, a part can be presented to the machine vision system with arbitrary 3D position and orientation. Stroboscopic illumination can be used to illuminate parts on a rapidly moving assembly line. |
