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Automated weld torch guidance control system

  • US 4,567,348 A
  • Filed: 12/27/1984
  • Issued: 01/28/1986
  • Est. Priority Date: 01/25/1983
  • Status: Expired due to Fees
First Claim
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1. Apparatus for positioning a member relative to a surface location which reflects less light than adjacent surface areas comprising:

  • a movable member;

    an actuating means for moving said member in a desired direction relative to said surface location;

    a camera means adapted to view a selected area including said surface location and portions of said adjacent surface areas;

    said camera means having light sensing video elements arranged in a two-dimensional matrix of rows and columns which are adapted to generate individual voltages according to the intensity of light incident on said light sensing video elements so that said surface location is represented as a dark location appearing darker in said viewed surface location than said portions of adjacent surface areas;

    a predetermined reference including a single prescribed row of said video elements and a single one of said video elements arranged in said single row and selected as a reference point for determining the position of said dark location;

    converting means for changing the individual voltages of said light sensing video elements into digital information;

    a light means adapted to direct constant light toward said selected surface area viewed by said camera means for illuminating said selected area with an uninterrupted and continuous solid light pattern;

    said video elements in said two-dimensional matrix generating voltage signals responsive to the light intensity received by said video elements;

    said processor means receiving digital information of said two-dimensional matrix and calculating an average value representing a dark area, an average value representing a lighted area, and then producing a threshold level so that signals therebelow are considered dark signals and all signals thereabove are considered light signals;

    processor means for receiving the digital information from said converting means and further calculating from digital information only from said single reference row and single reference point the location of said dark location within said selected surface area viewed by said camera means and comparing said location to said reference point, and generating therefrom a signal causing said actuating means to shift said movable member to a predetermined position relative to said surface location.

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