초록 ▼

A workcell has a camera module with two optical systems and a memory containing information about the arrangement of the optical systems, a robot module with a first coordinate system, a first set of fiducials, and a memory containing information about the 3D positions of the first set of fiducials

A workcell has a camera module with two optical systems and a memory containing information about the arrangement of the optical systems, a robot module with a first coordinate system, a first set of fiducials, and a memory containing information about the 3D positions of the first set of fiducials defined within the first coordinate system, and a fixture with a second coordinate system, a second set of fiducials, and a memory containing information about the 3D positions of the second set of fiducials defined within the second coordinate system. A processor is communicatively coupled to the camera module, the robot module, and the fixture. The processor is configured to receive information about positions of each of the fiducials as observed by the two optical systems, retrieve from the various memories information about the arrangement of the first and second optical systems, the 3D positions of the first set of fiducials, and the 3D positions of the second set of fiducials, and determine the position and orientation of the fixture in the coordinate system of the robot module.

대표청구항 ▼

1. A workcell comprising: a camera module comprising: a first optical system comprising a first sensor and configured to provide information about a first position of a target item on the first sensor,a second optical system comprising a second sensor and configured to provide information about a se

1. A workcell comprising: a camera module comprising: a first optical system comprising a first sensor and configured to provide information about a first position of a target item on the first sensor,a second optical system comprising a second sensor and configured to provide information about a second position of the target item on the second sensor, anda first memory containing information about an arrangement of the first and second optical systems;a robot module comprising: a first base with a first coordinate system,a first fiducial set comprising a plurality of fiducials coupled to the first base with each fiducial having a three-dimensional (3D) position, anda second memory containing information about the 3D positions of the first fiducial set defined within the first coordinate system;a fixture comprising: a second base having a second coordinate system,a second fiducial set comprising a plurality of fiducials coupled to the second base with each fiducial each having a 3D position, anda third memory containing information about the 3D positions of the second fiducial set defined within the second coordinate system; anda processor communicatively coupled to the camera module, the robot module, and the fixture, the processor configured to: manipulate the first and second fiducial sets to assign a fiducial as the target item,receive the information about the first and second positions of the target item,retrieve the information about the arrangement of the first and second optical systems, the information about the 3D positions of the first fiducial set, the information about the 3D positions of the second fiducial set, anddetermine a position and an orientation of the second coordinate system within the first coordinate system. 2. The workcell of claim 1, wherein: the processor is operatively coupled to each of the first set of fiducials and each of the second set of fiducials,each of the fiducials of the first and second sets of fiducials has a first state and a second state, andthe processor is further configured to selectively cause each of the fiducials to move to one of the first and second states. 3. The workcell of claim 2, wherein the processor is further configured to selectively cause one of the fiducials in the plurality of fiducial sets to move to the first state and the rest of the fiducials to move to the second state, thereby designating the fiducial in the first state as the target item. 4. The workcell of claim 2, wherein the processor is further configured to: selectively cause a portion of the fiducials of the first and second sets of fiducials to move to the first state while the rest of the fiducials move to the second state, thereby making the fiducials in the first state into a plurality of target items, thereby creating a plurality of first positions on the first sensor and a plurality of second positions on the second sensor,receive information about the plurality of first positions and the plurality of second positions, andassociate each of the first positions with one of the second positions based partially on the information about the 3D positions of the first and second sets of fiducials. 5. The workcell of claim 1, wherein: the fixture comprises an interaction point having a 3D position defined in the third coordinate system, whereinthe third memory further contains information about the 3D position of interaction point defined within the second coordinate system andthe processor is further configured to: retrieve the information about the 3D position of interaction point, anddetermine a position and an orientation of the interaction point within the first coordinate system. 6. The workcell of claim 1, wherein: the first optical system comprises a first optical axis (OA), andthe second optical system comprises a second OA that is not parallel to the first OA. 7. The workcell of claim 1, wherein: the first optical system comprises a first OA,the second optical system comprises a second OA that is separated from the first OA by a first distance at a plane passing through a first center of the first sensor and a second center of the second sensor,the first sensor is parallel to the second sensor, andthe first center is separated from the second center by a second distance that is larger than the first distance. 8. The workcell of claim 1, wherein: the camera module comprises a third coordinate system; andthe processor is further configured to: determine a position and an orientation of the first coordinate system within the third coordinate system, anddetermine a position and an orientation of the second coordinate system within the third coordinate system. 9. The workcell of claim 1, wherein the processor is further configured to cause the robot module to interact with the fixture without updates on the positions of any fiducials. 10. The module of claim 9, further comprising a keep-out zone defined in the coordinate system, wherein the memory further contains information about the keep-out zone. 11. The module of claim 9, further comprising an interaction point having a 3D position defined in the coordinate system, wherein the memory further contains information about the 3D position of interaction point and the memory is further configured to provide the information about the interaction point to an external device. 12. A method for configuring a workcell, comprising the steps of: determining a three-dimensional (3D) position of a first fiducial and a 3D position of a second fiducial that are both coupled to a first module;retrieving information regarding the 3D positions of the first fiducial and the second fiducial with respect to the first module;calculating a 3D position and orientation of the first module based partially on the determined positions of the first and second fiducials and the retrieved information;determining a 3D position of a third fiducial and a 3D position of a fourth fiducial that are both coupled to a second module;retrieving information regarding the 3D positions of the third fiducial and the fourth fiducial with respect to the second module;calculating the 3D position and orientation of the first module with respect to the second module; andproviding the 3D position and orientation of the first module with respect to the second module to the second module. 13. The method of claim 12, further comprising the step of operating the workcell without updating the 3D position and orientation of the first module with respect to the second module. 14. The method of claim 12, wherein the steps of determining the 3D positions of fiducials are performed using a camera module, and the step of operating the workcell comprises turning off an output from the camera module. 15. The method of claim 12, wherein: the step of retrieving information regarding the 3D positions of the first fiducial and the second fiducial with respect to the first module comprises retrieving the information from a first memory of the first module; andthe step of retrieving information regarding the 3D positions of the third fiducial and the fourth fiducial with respect to the second module comprises retrieving the information from a second memory of the second module. 16. The method of claim 15, wherein the step of determining the 3D positions of the first and second fiducials comprises: determining first and second positions of the first fiducial respectively on a first sensor and a second sensor of a camera module, anddetermining the 3D positions of the first and second fiducials in a coordinate system associated with the camera module. 17. The method of claim 16, wherein the step of determining the 3D positions of the third and fourth fiducials comprises: determining third and fourth positions of the third fiducial respectively on the first and second sensors of the camera module, anddetermining the 3D positions of the third and fourth fiducials in a first coordinate system associated with the camera module. 18. The method of claim 17, wherein: the information regarding the 3D positions of the first and second fiducials comprises information about a second coordinate related to the first module, andthe information regarding the 3D positions of the third and fourth fiducials comprises information about a third coordinate related to the second module;the step of determining the 3D position and orientation of the first module with respect to the second module comprises the steps of:determining the position and orientation of the second coordinate system in the first coordinate system, determining the position and orientation of the third coordinate system in the first coordinate system, anddetermining the position and orientation of the second coordinate system in the third coordinate system; andthe step of providing the 3D position and orientation of the first module with respect to the second module comprises providing the position and orientation of the second coordinate system with respect to the third coordinate system.