Modular, vision system for automation of inspection and process control

• US 4,706,120 A
• Filed: 08/30/1985
• Issued: 11/10/1987
• Est. Priority Date: 08/30/1985
• Status: Expired due to Fees

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Slaughter, John E., Terrell, Robert B.
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US06/771,433
• Time in Patent Office: 802 Days
• Field of Search: 358/101, 358/107, 358/93, 358/109, 358/125, 358/126, 358/903, 358/103, 364/559, 364/424, 901/44, 901/47, 180/169, 180/168
• US Class Current: 348/114
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A vision system provides an apparatus and method for obtaining an image of a manufacturing apparatus that is electrically controllable. A gray scale image of the manufacturing apparatus is obtained and is used to generate control commands that control the manufacturing apparatus.

Claims

1. A vision control system for obtaining an image of a mobile apparatus that is electrically controllable, comprising:

means for obtaining a gray scale image of the mobile apparatus;

means for generating control commands to control the mobile apparatus from the gray scale image of the mobile apparatus; and

means for controlling the mobile apparatus in response to the control commands.

2. The vision control system according to claim 1 wherein the means for obtaining a gray scale image of the mobile apparatus comprises:

means for providing highlighted points associated with the mobile apparatus; and

means for obtaining an image of the highlighted points.

3. The vision control system according to claim 2 wherein the image means comprises:

a raster scan camera means for converting light from the highlighted points to an electrical signal that represents a waveform of light intensity in relationship to raster scan position of the raster scan camera means, the raster scan position being identified by frame, row and column coordinates.

4. The vision control system according to claim 3 wherein location means comprises:

means for identifying clusters of light from the waveform;

means for comparing the cluster of light to an expected cluster of light to identify the highlighted points.

5. The vision control system according to claim 4 wherein the identifying means comprises:

means for transforming the waveform from an analog signal in the temporal domain to digital signals in the spatial domain.

6. The vision control system according to claim 5 wherein the transformation means comprises:

means for digitizing the waveform to obtain a first digital signal;

means for dividing the first digital signal into a row digital signal and a column digital signal that correspond to the raster coordinates;

summation means for performing a vector summation of the row and column digital signals to obtain a first and second integrated signal; and

comparator means for comparing the first and second integrated signals to a predetermined threshold to obtain a first ordinate signal and second ordinate signal thereby.

7. The vision control system according to claim 6 wherein the identifying means comprises:

means for locating centroids that represent the clusters of light from the first and second ordinates; and

means for comparing a pattern created by the centroids to the pattern of the lighted points.

8. The vision control system according to claim 7 further comprising:

second means for transforming the centroids onto a linear spatial plane.

9. A method for obtaining an image of and to control a mobile apparatus that is electrically controllable, comprising:

obtaining a gray scale image of the mobile apparatus;

generating control commands to control the mobile apparatus from the gray scale image of the mobile apparatus; and

controlling the mobile apparatus in response to the control commands.

10. The method according to claim 9 wherein the step of obtaining a gray scale image of the mobile apparatus comprises:

providing highlighted points associated with the mobile apparatus; and

obtaining an image of the highlighted points.

11. The method according to claim 10 further comprising the steps of:

transmitting the location of the mobile apparatus to the control means.

12. The method according to claim 11 wherein the step of obtaining an image comprises the step of:

converting with a raster scan camera means light from the highlighted points to an electrical signal that represents a waveform of light intensity in relationship to raster scan position of the raster scan camera means, the raster scan position being identified by frame, row and column coordinates.

13. The method according to claim 12 wherein the step of obtaining a gray scale image of the mobile apparatuses comprises the steps of:

idenifying clusters of light from the waveform; and

comparing the cluster of light to an expected cluster of light to identify the highlighted points.

14. The method according to claim 13 wherein the step of identifying clusters of light comprises the step of;

transforming the waveform from an analog signal in the temporal domain to digital signals in the spatial domain.

15. The method according to claim 14 wherein the step of transforming comprises:

digitizing the waveform to obtain a first digital signal;

dividing the first digital signal into a row digital signal and a column digital signal that correspond to the raster coordinates;

performing a vector summation of the row and column digital signals to obtained a first and second integrated signal; and

comparing the first and second integrated signals to a predetermined threshold to obtain a first ordinate signal and second ordinate signal thereby.

16. The method according to claim 15 wherein the identifying step comprises:

locating centroids that represent the clusters of light from the first and second ordinates; and

comparing a pattern created by the centroids to a pattern of the light points.

17. The method according to claim 16 further comprising the step of:

transforming the centroids onto a linear spatial plane.