System and method for automated artificial vision guided dispensing viscous fluids for caulking and sealing operations
The present disclosure provides a method and system by which a precise amount of a viscous fluid sealing compound can be dispensed at required locations through computer vision-based observation of the fluid deposited, its rate and amount of deposition and location; and that the dispensed fluid may be accurately shaped through robotic or other special purpose mechanism motion. The invention enables instant quality inspection of the dispensing process in terms of the locations, amounts and shapes of newly created seals.
1. A vision guided dispensing system for sealing one or more features located in a part, comprising:
a housing having a dispensing device mounted to said housing, said dispensing device having a dispensing nozzle;
a vision sensor mounted on said housing; and
a vision processor interfaced with said dispensing device and said vision sensor, said vision processor being programmed with instructions for real-time processing of images of the one or more features being sealed and said dispensing nozzle and to determine what position and orientation that a dispensing tip of said dispensing nozzle needs to be positioned in with respect to each feature being sealed prior to dispensing sealant, said vision processor being programmed to acquire images of said dispensing tip of said dispensing nozzle while a sealant is being dispensed by said dispensing device, said vision processor being programmed with instructions for real-time measuring and controlling of an amount of the sealant exiting said dispensing tip prior to the sealant being completely deposited onto said feature based on real-time processing of the images of the sealant being dispensed which are acquired during dispensing of the sealant to produce a seal.
2. The vision guided dispensing system according to claim 1 wherein said vision sensor includes one or more 2D cameras.
3. The vision guided dispensing system according to claim 1 wherein said vision sensor includes one or more 2D cameras and one or more rangefinders.
4. The vision guided dispensing system according to claim 3 wherein one or more of the 2D cameras is mounted to observe the dispensing tip of the dispensing nozzle and the rangefinder is mounted to observe a surface of the part on which the feature close to the nozzle is located which is being sealed.
5. The vision guided dispensing system according to claim 2 wherein one of the said 2D cameras is mounted to observe the dispensing tip of the dispensing nozzle and the feature which is being sealed.
6. The vision guided dispensing system according to claim 1 wherein said vision sensor includes a stereo camera.
7. The vision guided dispensing system according to claim 1 wherein said vision sensor includes a 3D camera.
8. The vision guided dispensing system according to claim 1 wherein said vision sensor includes one or more 2D camera and one or more structured light projectors.
9. The vision guided dispensing system according to claim 1 including an interface for coupling said dispensing apparatus to a robotic arm.
10. The vision guided dispensing system according to claim 9 wherein said robotic arm is mounted on a mobile platform, and includes a global vision sensor for obtaining global images of a workspace containing the part having the one or more features to be sealed, and wherein said robotic arm is connected to a controller that is programmed based on analysis of the global images of the workspace, instruct the robotic arm to move the dispensing apparatus into close proximity to the one or more features to be sealed.
11. The vision guided dispensing system according to claim 1 including a contact sensor for detection of contact between said dispensing apparatus and said one or more features to be sealed.
12. The vision guided dispensing system according to claim 11 including a force sensor mounted between said dispensing apparatus and said robotic arm for detecting contact between said dispensing apparatus and said one or more features to be sealed.
13. The vision guided dispensing system according to claim 11 wherein the contact sensor is integrated within the dispensing apparatus.
14. The vision guided dispensing system according to claim 1 wherein contact between said dispensing apparatus and said one or more features on said part is detected through the measurement of currents in said robotic arm joint motors.
15. The vision guided dispensing system according to claim 1 wherein the dispensing device contains a cartridge that stores the sealant.
16. The vision guided dispensing system according to claim 1 wherein the dispensing device further comprises;
an actuator and
a plunger; wherein said plunger is advanced by said actuator in order to force the sealant through the dispensing nozzle.
17. The vision guided dispensing system according to claim 16 wherein said actuator is any one of an electric motor with a lead screw, linear motor, servo motor, pneumatic actuator and a hydraulic actuator.
18. The vision guided dispensing system according to claim 16 wherein said vision processor is programmed with instructions such that when said vision processor has detected excess sealant, said vision processor instructs said motor to withdraw said plunger to remove the excess sealant.
19. The vision guided dispensing system according to claim 1 wherein the dispensing device further comprises at least one pressure sensor mounted on said dispensing nozzle or sealant cartridge for measuring the pressure of the sealant.
20. The vision guided dispensing system according to claim 1 including wherein said dispensing device includes a meter mechanism for measuring an amount of sealant dispensed.
21. The vision guided dispensing system according to claim 20 wherein the sealant from the plurality of cartridges is mixed in situ before it is dispensed.
22. The vision guided dispensing system according to claim 1 wherein the sealant is supplied to the dispensing device by pumping the sealant from an external storage container.
23. The vision guided dispensing system according to claim 1 wherein the dispensing device contains a plurality of cartridges that store sealant.
24. The vision guided dispensing system according to claim 1 wherein the one or more features to be sealed includes at least one fastener.
25. The vision guided dispensing system according to claim 1 wherein the one or more features to be sealed include at least one fillet edge.
26. The vision guided dispensing system according to claim 1 , wherein said features are any one or combination of fasteners and joints.
27. The vision guided dispensing system according to claim 26 , wherein said vision processor is programmed for computing a maximum and minimum radii of the fluid blob from the fastener center, smoothness of contour and circularity of contour for tail detection for the purpose of seal inspection.
28. The vision guided dispensing system according to claim 26 , wherein said features are fasteners, and wherein said vision processor is programmed for computing an offset between a center of a fastener and a center sealant blob from images of uncovered and sealed fastener captured from the same vantage point in order to determine quality of the seal.
29. The vision guided dispensing system according to claim 1 , wherein said vision processor is programmed for computing a fluid blob diameter and average radius of dispensed sealant on the feature, based on the real-time images, and once the fluid blob average radius grows equal or larger to a predefined threshold the dispensing system is commanded to stop dispensing sealant.