US 11,969,751 B2
System and method for automated artificial vision guided dispensing viscous fluids for caulking and sealing operations
Limin Shang, Maple (CA); Adam Neil Philip, Etobicoke (CA); Piotr Jasiobedzki, Mississauga (CA); Mark Patrick Barnet, Toronto (CA); and Timothy Reedman, Georgetown (CA)
Assigned to MACDONALD, DETTWILER AND ASSOCIATES INC., Brampton (CA)
Filed by MACDONALD, DETTWILER AND ASSOCIATES INC., Brampton (CA)
Filed on Sep. 29, 2021, as Appl. No. 17/488,842.
Application 17/488,842 is a division of application No. 15/645,929, filed on Jul. 10, 2017, granted, now 11,192,137.
Claims priority of provisional application 62/360,056, filed on Jul. 8, 2016.
Prior Publication US 2022/0016669 A1, Jan. 20, 2022
Int. Cl. B25J 9/16 (2006.01); B05C 1/02 (2006.01); B05C 11/10 (2006.01); B05D 1/26 (2006.01); B25J 5/00 (2006.01); B25J 5/04 (2006.01); B25J 11/00 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01); H04N 13/204 (2018.01); H04N 23/51 (2023.01); H04N 23/54 (2023.01); B05C 5/02 (2006.01)
CPC B05D 1/26 (2013.01) [B05C 1/027 (2013.01); B05C 11/1005 (2013.01); B25J 5/007 (2013.01); B25J 5/04 (2013.01); B25J 9/1664 (2013.01); B25J 9/1684 (2013.01); B25J 9/1697 (2013.01); B25J 11/0075 (2013.01); B25J 15/0019 (2013.01); B25J 15/0066 (2013.01); B25J 19/023 (2013.01); H04N 13/204 (2018.05); H04N 23/51 (2023.01); H04N 23/54 (2023.01); B05C 5/0216 (2013.01); B05C 11/1036 (2013.01); G05B 2219/45065 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A sealing system for automated artificial vision-guided dispensing of viscous fluids for caulking and sealing operations around one or more features on a part, comprising:
a mobile platform for gross positioning of said system relative to said part containing said one or more features;
a dispensing device for applying sealant to said one or more features, said dispensing device including a dispensing nozzle having a dispensing tip;
a positioning device mounted on said mobile platform to which said dispensing device is attached for positioning the dispensing device relative to said one or more features;
a first sensing device for determining the position of the mobile platform relative to said part;
a second sensing device for determining the position of said one or more features on said part with respect to the dispensing device, said second sensing device including a vision sensor,
a vision processor interfaced with said vision sensor, said first sensing device and said dispensing device, said vision processor being programmed with instructions for
processing images of the one or more features being sealed and said dispensing tip to determine an optimum position and orientation said dispensing tip needs to be positioned in with respect to said one or more features prior to dispensing said sealant, and
real-time measuring and controlling of an amount of the sealant exiting said dispensing tip prior to the sealant being completely deposited onto said one or more features based on real-time processing of the visual images of the sealant being dispensed which are acquired during dispensing of the sealant to produce a seal; and
a controller connected to said positioning device and said dispensing device, and being programmed for controlling
said positioning device based on feedback from said first sensing device, and
said dispensing device based on feedback from said second sensing device to move said dispensing tip to the optimum position and orientation, and
the dispensing operation based on feedback from said second sensing device.