Method and apparatus for detecting characteristic features of surfaces

• US 4,041,286 A
• Filed: 11/20/1975
• Issued: 08/09/1977
• Est. Priority Date: 11/20/1975
• Status: Expired due to Term

• Current Assignee: Roberts Sinto Corp. (Sintokogio Limited)
• Original Assignee: The Bendix Corporation (Honeywell International Inc.)
• Inventors: Sanford, Norman R.
• Primary Examiner(s): Ruggiero, Joseph F.
• Application Number:
  US05/633,940
• Time in Patent Office: 628 Days
• Field of Search: 235/151.3, 235/151.1, 235/151, 178/6.8, 178/DIG. 22, 178/DIG. 36, 340/146.3 H, 356/165, 356/167, 356/168, 356/102, 250/557, 250/567, 318/640
• US Class Current: 382/141
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A novel system is provided for detecting the presence of a characteristic feature on an illuminated surface of an object when used in conjunction with known electro-optical systems for determining the position of the centroid of the outline of the object with relation to the supporting surface and the rotation of the object relative to the rotational orientation of a test part. The surface is illuminated at an angle that enhances the contrast of the characteristic feature while using a vidicon-type image converter tube which scans the field which includes the object. The location, with respect to the centroid, of a circular window area encompassing the characteristic feature and the radius of the circular window are determined utilizing a television monitor connected to the vidicon. Next the operator determines and stores a pair of separated threshold levels which control a level detector which compares the vidicon output to the threshold level to derive a binary output so that one of the threshold levels separates the white area in the window area from the gray-black area while the other threshold level separates the black area in the window area from the white-grey areas. The system then analyzes and stores the relative amounts of white, gray and black areas in the window as a signature signal representative of the characteristic feature of the surface. Following this "teach" phase, the system may be used to determine whether a subsequent object contains a feature which correlates well with the characteristic of the test part by analyzing the output of the vidicon at the window for both threshold levels and determining the correlation between these levels and the values obtained during the teach phase.

Claims

1. A system for identifying a face on a three dimensional test body on a stage by comparing an optical representation of the face with stored signals indicative of optical representations of comparison faces of three dimensional comparison bodies, said system comprising:

means for illuminating said comparison faces sequentially and for generating and storing an optical representation of the relative amounts of white, gray and black areas on each comparison face.

means for illuminating said test body in a first direction and for creating an optical image,

means for receiving the optical image in a second direction oblique to said first direction,

means for generating electrical signals representative of the relative amount of white, gray and black area as viewed in said second direction,

means for generating a signature signal comprising information representative of said relative amounts of white, gray and black areas on the face of the test body, and

means for comparing the signature signal of the face with the stored signals indicative of optical representations of the comparison faces to determine which face is being viewed.

2. The system as defined in claim 1 and further comprising means for generating electrical signals representative of the centroid of the silhouette of said body, means for generating electrical signals representative of the position of said centroid relative to a predetermined reference point wherein said signature signal includes information representative of the position of said centroid relative to said reference point.

3. The system as defined in claim 2 and further comprising means for generating electrical signals representative of the angular position of said body relative to a predetermined angular reference position wherein said signature signal includes information representative of said angular position.

4. The system as defined in claim 1 in which said means for receiving the optical image comprises a scanning type image converter adapted to generate an electrical analog signal representative of the illumination intensity of the optical image viewed and a threshold detector adapted to generate a first binary electrical signal when said analog signal is below a given threshold level and a second binary electrical signal when said analog signal is above said given threshold level.

5. The system as defined in claim 4 in which said means for generating electrical signals representative of the relative amounts of white, gray and black areas further comprises means for establishing first and second separated threshold levels so that electrical signals representative of the white area are generated with said first threshold value and electrical signals representative of the black area are generated with said second threshold value.

6. The system as defined in claim 5 wherein said means for illuminating the body produces a gray area and in response to said signal from said image converter from said gray area, said threshold detector generates said first binary signal with said first threshold level, and said threshold detector generates said second binary signal with said second threshold level.

7. The system as defined in claim 1 and including means for receiving the optical image of a preselected window area on said stage, means for determining the centroid of said body and determining distance and phase of said window area relative to said centroid wherein said signature signal includes information representative of said distance and phase of said window area relative to said centroid and an angular reference point.

8. The system as defined in claim 7 and including means to vary the size of said window area wherein said signature signal includes information representative of the size of said window area.

9. A method of identifying a face of a test object relative to faces of comparison objects, the steps of the method comprising:

identifying individually a plurality of faces of comparison objects by illuminating a face in at least two directions to create a comparison image;

producing a comparison signal representative of the relative amount of white and black at two different gray-level thresholds for each face; and

storing the comparison signal as representative of the face;

illuminating the test object in at least two directions to create a test image of the test object;

generating a signature signal indicative of the relative amounts of white and black in the test image at corresponding to two different gray-level thresholds; and

comparing the signature signal generated with at least one of the stored comparison signals to identify the test object with respect to the faces of the comparison objects, whereby the face of the test object may be identified as corresponding to one of the faces of the comparison objects.