Image processing system for an optical seam tracker
First Claim
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1. A method of operating a robot system including:
- a robot controller for iteratively controlling an effector end with an error compensating control signal in relation to a taught path;
a seam sensor vision system havign an optical sensor disposed ahead of the effector end for iteratively deriving successive 2-D light stripe images representing discrete successive transversed views of the seam as sensed at successive locations upon the seam ahead of the effector end, an image processor for treating each of said images to derive the relation to each image a first signal representative of the corresponding sensed location, and a control processor responsive to a second signal indicative of a present effector end position and to said first signal for generating said control signal as an indication of an error between effector end position and sensed location;
comprising the following operative steps by the image processor;
with the 2-D strip image having a plurality of lines in a raster and each line having a plurality of addressable pixels;
deriving from said 2-D stripe image a digital representation thereof by scanning said lines successively to provide a series of digital signals each representative of a pixel, said digital signals being characteristic of the raster;
processing said digital signals by converting to a predetermined white pixel characteristic digital signal a derived digital signal bordering a selected one of the edges of said 2-D stripe image, and by converting to a predetermined black pixel characteristic digital signal derived digital signals from non bordering said selected edge, whereby said derived digital signals together represent a one-pixel wide line characteristic of said light stripe image;
processing said pixel line to identify thereupon a point characteristic of the location sensed on the seam by said optical sensor; and
deriving from said characteristic point 3-D coordinates thereof as an indication of the sensed seam location.
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Abstract
An image processing system uses the digital expression of the video image of a light stripe derived optically from a seam to create a 1-D signal representative of a one-pixel wide line. The target coordinates for the tool operating on the seam is converted directly into 3-D tool position and orientation from the 1-D signal. Matching with models is effected in real time by comparing symbolic attributes of the graphs built up with the 1-D signal and with standard seams. From such matching is selected the operative corner, or target for the tool.
55 Citations
35 Claims
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1. A method of operating a robot system including:
- a robot controller for iteratively controlling an effector end with an error compensating control signal in relation to a taught path;
a seam sensor vision system havign an optical sensor disposed ahead of the effector end for iteratively deriving successive 2-D light stripe images representing discrete successive transversed views of the seam as sensed at successive locations upon the seam ahead of the effector end, an image processor for treating each of said images to derive the relation to each image a first signal representative of the corresponding sensed location, and a control processor responsive to a second signal indicative of a present effector end position and to said first signal for generating said control signal as an indication of an error between effector end position and sensed location;comprising the following operative steps by the image processor; with the 2-D strip image having a plurality of lines in a raster and each line having a plurality of addressable pixels; deriving from said 2-D stripe image a digital representation thereof by scanning said lines successively to provide a series of digital signals each representative of a pixel, said digital signals being characteristic of the raster; processing said digital signals by converting to a predetermined white pixel characteristic digital signal a derived digital signal bordering a selected one of the edges of said 2-D stripe image, and by converting to a predetermined black pixel characteristic digital signal derived digital signals from non bordering said selected edge, whereby said derived digital signals together represent a one-pixel wide line characteristic of said light stripe image; processing said pixel line to identify thereupon a point characteristic of the location sensed on the seam by said optical sensor; and deriving from said characteristic point 3-D coordinates thereof as an indication of the sensed seam location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
- a robot controller for iteratively controlling an effector end with an error compensating control signal in relation to a taught path;
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16. An optical seam tracker system generating a video signal representative of a light stripe image defined as a raster of scanning lines having white pixels when located on the light stripe and black pixels as a background thereof, the seam tracker using image processing comprising the following:
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means for converting said video signal into digital signal representing pixels on the scanning lines; sliding window means for establishing a running mask along said scanning lines allowing said digital signals to pass through; a plurality of reference signals each representing one of successive and possible mask situations corresponding to pixels bordering a selected one of the edges of said light stripe; means responsive to the mask allowed digital signals and to said reference signals for passsing a white pixel digital signal when the digital signal matches one of said reference signals and for passing a black pixel digital signal otherwise, whereby the stripe image is converted into a one-pixel wide representative line. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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Specification