| CPC G06T 7/001 (2013.01) [G09G 3/002 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20224 (2013.01); G06T 2207/30164 (2013.01)] | 12 Claims |
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1. A method of assembling a plurality of objects in a work zone using a camera and a projector, wherein said camera is configured to capture images defined by camera pixels, and said projector is configured to project images defined by projector pixels, the method comprising:
in a training mode, in respect of a first step of a sequence of assembly steps:
arranging at least one object correctly in said work zone;
causing said projector to illuminate a first current scene in said work zone by projecting at least one projector image onto said work zone, wherein said at least one projector image is defined by projector pixels, wherein said first current scene comprises said at least one object correctly arranged in said work zone;
causing said camera to capture at least one captured image of said first current scene in said work zone illuminated by said at least one projector image, wherein said at least one captured image is defined by camera pixels;
mapping the camera pixels of said at least one captured image to the projector pixels of said at least one projector image to create a first current scene pixel map that defines a correspondence between said camera pixels and said projector pixels for said first step of said sequence of assembly steps;
comparing said first current scene pixel map with a corresponding other reference scene pixel map for said work zone to identify at least one difference between said first current scene pixel map and said reference scene pixel map;
creating a projector pixel set for said first step, said projector pixel set representing said at least one difference identified between said first current scene pixel map and said reference scene pixel map; and
in said training mode, in respect of each subsequent step of said sequence of assembly steps:
arranging at least one other object correctly in said work zone, and/or rearranging said at least one object in said work zone;
causing said projector to illuminate a respective current scene in said work zone by projecting at least one projector image onto said work zone, wherein said at least one projector image is defined by projector pixels;
causing said camera to capture at least one captured image of said respective current scene in said work zone illuminated by said at least one projector image, wherein said at least one captured image is defined by camera pixels;
mapping the camera pixels of said at least one captured image to the projector pixels of said at least one projector image to create a respective current scene pixel map that defines a correspondence between said camera pixels and said projector pixels for the respective subsequent step of said sequence of assembly steps;
comparing said respective current scene pixel map with a preceding scene pixel map for a preceding step of said sequence of assembly steps to identify at least one difference between said respective current scene pixel map and said preceding scene pixel map;
creating a projector pixel set for the respective subsequent step, said projector pixel set representing said at least one difference identified between said respective current scene pixel map and said preceding scene pixel map; and
in a guidance mode or in a verification mode, in respect of said first step:
causing said projector to illuminate said work zone using said projector pixel set for said first step to indicate, by illumination of said work zone, said at least one difference identified between said first current scene pixel map and said reference scene pixel map, and
in said guidance mode or in said verification mode, in respect of each subsequent step of said sequence of assembly steps:
causing said projector to illuminate said work zone using said projector pixel set for the respective subsequent step to indicate, by illumination of said work zone, said at least one difference identified between said respective current scene pixel map and said preceding scene pixel map.
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