Video bus for a vision system

• US 4,959,802 A
• Filed: 08/30/1985
• Issued: 09/25/1990
• Est. Priority Date: 08/30/1985
• Status: Expired due to Term

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Terrell, Robert B., Slaughter, John E.
• Primary Examiner(s): Harkcom, Gary V.
• Assistant Examiner(s): Herndon, H. R.
• Application Number:
  US06/771,545
• Time in Patent Office: 1,852 Days
• Field of Search: 364/518, 364/521, 364/512, 364/513, 364/424, 364/431, 364/424.01, 364/424.02, 340/703, 340/724, 340/747, 901/1, 901/46, 901/47
• US Class Current: 701/1
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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. The vision system has a video bus that transmits the actual pixel value synchronized with a pixel clock, frame and line strobes which are used to synchronized each unit of the vision system, a field index bit, and provision for a pixel valid bit are included. 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 video control system comprising:

a vision interface module for converting analog video data to digital video data;

a visual histogram processor module for generating video histograms of at least a portion of the digital video data output by the vision interface module;

said histogram processor module including a window generator for reducing the quantity of video data for subsequent image processing;

a picture memory module for storing the digital video data from the vision interface module, including means for converting said data from gray scale information to black and white coded information;

a video bus connecting the three modules and for passing control signals and the digital video data from the vision interface module to the other two modules, wherein said control signals include a pixel clock signal for triggering the conversion in the vision interface module of analog video data to digital video data, and for use by the window generator in generating a window;

a horizontal synch signal for use by the picture memory module in generating a horizontal address of a pixel location; and

a vertical synch signal for use by the picture memory module in generating a vertical address of a pixel location.

2. The video control system of claim 1 wherein the reduced quantity of video data is the data generated from a window containing an area in which a set of desired images is expected to be found.

3. The video control system of claim 1 wherein the visual histogram processor module includes a row projection counter for performing a row vector summation for each row of video data.

4. The video control system of claim 3 wherein the visual histogram processor module includes a column address counter for generating memory addresses corresponding to raster column positions of the video data.

5. The video control system of claim 1 wherein the picture memory module includes a binary logic map for performing a comparison on the video data such that when the light intensity is above a predetermined threshold a first logic state is obtained and when below the threshold, a second logic state is obtained as an output of the binary logic map.

6. The video control system of claim 5 wherein the picture memory module includes a 3×

3 processor for digitally filtering noise from the output of the binary logic map.

7. A video imaging system for obtaining images from a plurality for cameras, of light sources on at least one mobile robot, for the purpose of providing position information to said at least one mobile robot to enable it to navigate from one place to another, comprising:

a vision interface module for converting analog video data from the cameras to digital video data;

a visual histogram processor module for generating video histograms from at least a portion of the digital video data;

a window generator for reducing the quantity of video information that must be further processed, by generating a window of data that includes only the area wherein the light sources from one of the robots is expected to be;

a picture memory module for storing the digital video data, including means for converting said data from gray scale encoding to black and white encoding; and

a navigation computer to receive video data from the three modules and to provide position information to the mobile robot.

8. The video imaging system of claim 7 wherein the vision interface module includes a multiplexor for selecting the video output of one of the cameras at a time.

9. The video imaging system of claim 8 including a video bus connecting the three modules and for passing control signals and the video data from the video histogram processor to the other two modules.