System and method for locating vehicle components relative to each other

Patent metadata

Field	Value
Publication number	US-9713870-B2
Application number	US-201514716158-A
Country	US
Kind code	B2
Filing date	May 19, 2015
Priority date	May 30, 2014
Publication date	Jul 25, 2017
Grant date	Jul 25, 2017

Abstract

A method for locating a first vehicle component relative to a second vehicle component includes the following steps: (a) moving the robotic arm to a first position such that a form feature of the first vehicle component is within a field of view of a camera; (b) capturing an image the form feature of the first vehicle component; (c) moving the robotic arm to a second position such that the form feature of the second vehicle component is within the field of view of the camera; (d) capturing an image of the form feature of the second vehicle component; (e) picking up the second vehicle component using the robotic arm; and (f) moving the robotic arm along with the second vehicle component toward the first vehicle component.

First claim

The invention claimed is:

1. A method for locating a first vehicle component relative to a second vehicle component using a robotic arm, wherein the first vehicle component includes a first component body and defines at least one first form feature on the first component body, and the second vehicle component includes a second component body and defines at least one second form feature on the second component body, the method comprising:
moving the robotic arm having a camera coupled thereto to a first position such that the at least one first form feature is within a field of view of the camera;
capturing at least one image of the at least one first form feature using the camera in order to locate the at least one first form feature relative to the first component body;
after capturing the at least one image of the at least one first form feature, moving the robotic arm to a second position such that the at least one second form feature of the second vehicle component is within the field of view of the camera;
capturing at least one image of the at least one second form feature using the camera in order to locate the at least one second form feature relative to the second component body;
determining a final destination of the second vehicle component based on the at least one image of the at least one first form feature and the at least one image of the second form feature;
after capturing the at least one image of the first form feature and the at least one image of the second form feature, picking up the second vehicle component using the robotic arm; and
moving the robotic arm along with the second vehicle component toward the first vehicle component until the second vehicle component reaches the final destination in order to align the at least one first form feature with the at least one second form feature so as to position the second vehicle component in a predetermined position relative to the first vehicle component independently of an absolute position of the first vehicle component.

2. The method of claim 1 , wherein moving the robotic arm toward the second vehicle component includes moving the robotic arm until the first vehicle component is spaced from the second vehicle component by a predetermined standoff distance.

3. The method of claim 1 , wherein moving the robotic arm toward the second vehicle component includes moving the robotic arm such that the at least one first form feature is offset relative to the at least one second form feature by a predetermined offset distance.

4. The method of claim 1 , wherein the at least one first form feature includes a plurality of first form features disposed along a first plane, and capturing the at least one image of the at least one first form feature using the camera includes capturing at least one image of the plurality of first form features.

5. The method of claim 4 , wherein the camera defines an optical axis, and moving the robotic arm to the first position includes moving the robotic arm until the optical axis is perpendicular to the first plane.

6. The method of claim 5 , wherein at least one second form feature includes a plurality of second form features disposed along a second plane, and capturing the at least one image of the at least one second form feature using the camera includes capturing at least one image of the plurality of second form features.

7. The method of claim 6 , wherein moving the robotic arm to the second position includes moving the robotic arm until the optical axis is perpendicular to the second plane.

8. The method of claim 1 , wherein the robotic arm defines a spatial three-dimensional coordinate system, and the absolute position of the first vehicle component is defined relative to the spatial three-dimensional coordinate system.

9. A system for locating a first vehicle component relative to a second vehicle component, wherein the first vehicle component includes a first component body and defines at least one first form feature on the first component body, and the second vehicle component includes a second component body and defines at least one second form feature on the second component body, the system comprising:
a robotic arm including an end-of-arm-tool, wherein the robotic arm defines a spatial three-dimensional coordinate system;
a camera coupled to the robotic arm, wherein the camera has a field of view and is configured to capture images within the field of view;
a control module in communication with the camera and the robotic arm, wherein the control module is programmed to:
command the robotic arm to move to a first position such that the at least one first form feature is within the field of view of the camera;
command the camera to capture at least one image of the at least one first form feature in order to locate the at least one first form feature relative to the first component body;
command the robotic arm to move to a second position such that the at least one second form feature of the second vehicle component is within the field of view of the camera after the camera has captured the at least one image of the at least one first form feature;
command the camera to capture at least one image of the at least one second form feature in order to locate the at least one second form feature relative to the second component body;
determine a final destination of the of the second vehicle component based on the at least one image of the at least one first form feature and the at least one image of the second form feature;
command the robotic arm to pick up the second vehicle component using the end-of-arm-tool after the camera has captured the at least one image of the at least one first form feature and the at least one image of the second form feature; and
command the robotic arm to move, along the second vehicle component, toward the first vehicle component until the second vehicle component reaches the final destination in order to align the at least one first form feature with the at least one second form feature so as to position the second vehicle component in a predetermined position relative to the first vehicle component independently of an absolute position of the first vehicle component, wherein the absolute position of the first vehicle component is defined relative to the spatial three-dimensional coordinate system.

10. The system of claim 9 , wherein the control module is programmed to command the robotic arm to move toward the first position until the first vehicle component is spaced from the second vehicle component by a predetermined standoff distance.

11. The system of claim 9 , wherein the control module is programmed to command the robotic arm to move toward the second vehicle component such that the at least one first form feature is offset relative to the at least one second form feature by a predetermined offset distance.

12. The system of claim 9 , wherein the at least one first form feature includes a plurality of first form features disposed along a first plane, and the control module is programmed to command the camera to capture at least one image of the plurality of first form features.

13. The system of claim 12 , wherein the camera defines an optical axis, and the control module is programmed to command the robotic arm to move toward the first position until the optical axis is perpendicular to the first plane.

14. The system of claim 13 , wherein the at least one second form feature includes a plurality of second form features disposed along a second plane, and the control module is programmed to command the camera to capture at least one image of the plurality of second form features.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Shi Jianying
• Spicer John Patrick
• Ransom Lance T

Classifications

• G06T1/0014

  Image feed-back for automatic industrial control, e.g. robot with camera (robots B25J19/023) · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06K9/0063

  Physics · mapped topic