Abstract: An electro-optical sensor probe is removably mounted on a conventional machine tool, for example, at a location whereat a tool would normally be mounted, for sensing the condition of a workpiece. Signals received by the sensor probe can be conveyed to a control location either by radio telemetry or across electrical and/or fiber optic lines operationally coupled to the sensor probe. Alternatively, robot based positioning of said probes is disclosed.

Abstract: This invention describes novel method and apparatus for inspecting gear geometry via optical triangulation. Preferred machine construction uses specialized geometrical relationships of sensor to gear, and specialized high accuracy photodetector array based laser triangulation sensor units of large range and high response speed.

Abstract: A method and apparatus for determining the dimension, location, orientation, presence, or identity of at least a portion of an object. An object or a portion thereof is imaged onto an end of an at least partially non-coherent optical fiber bundle whereby the image incident on said end of said fiber bundle is transmitted to the other end thereof. The image is transferred from the other end of the non-coherent optical fiber bundle onto a photodetector comprising a plurality of discrete photodetector elements. The output of the photodetector elements is utilized to determine a characteristic of the lighted or unlighted portion at the other end of the non-coherent fiber bundle, and the characteristic is used to determine a dimension, location, orientation, presence, or identity of the object or portion thereof.

Abstract: A method of determining physical characteristics of a surface. Light or other electromagnetic radiation is directed onto a first portion of a surface and the reflected radiation is received such as by a photodiode. The radiation is also directed onto at least two further portions of the surface and located on either side of and proximate to the first portion. The radiation reflected by the further portions is also received. The radiation reflected from the first portion is compared with the radiation reflected from the two further portions. The radiation and comparison steps are repeated and the comparisons are used to determine a physical characteristic of the surface, such as the presence of one or more flaws. In another embodiment, light or other electromagnetic radiation is used to determine object dimension, such as bore dimension.

Abstract: Disclosed is an electro-optical and microcomputer based method and apparatus for automatically guiding tractors and other farm machinery for the purpose of automatic crop planting, tending and harvesting. Also disclosed are means for automatic picking, excavating and other off-road uses in relatively confined areas.

Abstract: Method and apparatus for determining dimensional information concerning an object. A ring of light is directed onto an object surface such that at least a portion of the ring of light is incident upon the object surface. An image is formed of the incident light reflected from the surface. The width or position of the image is determined. The location of the surface is determined from the image width or position, and dimensional information about the object is determined from the surface location.

Abstract: Optical sensing means, such as an optical image-forming system, is provided on the gripper of a robot and positioned to sense an object to be gripped. A signal, such as an image of the object or a portion thereof, is transmitted from the sensor to a remote detector via a fiber optic cable. A control signal, responsive to the detected signal from the sensor, is generated to actuate the robot arm and gripper to effect gripping of the object. The invention has broad applicability in that it is extremely light-weight and can be mounted on the gripper. The invention has particular adaptability to a fluid-actuated robot: in that instance the entire robot, including object sensing means and actuation means, is non-electrical and can be used in explosive environments.

Abstract: Method and apparatus for accurate positioning of a moveable member such as a robot arm or the like. An encoder or other position sensing means on the robot is used to control positioning of the robot into a desired position. However, because of inaccuracies such as those built up by utilizing a plurality of position sensors or those occasioned by bending, etc., the robot arm, gripper or the like may be substantially out of position. In the present invention, an electro-optical system, having a reference point external of the robot, is used to determine if the arm, gripper or the like is actually in its desired position. If it is determined to be out of its desired position, a control signal is generated to effect movement of the arm or gripper or the like so that it is actually in its desired position.

Abstract: A method and device for sensing the presence and location of an object in a reference plane by directing light along a line perpendicular to the plane, defining a ring in that plane encircling said line of light, and sensing, by a change in the condition of the light, the presence of an object on the ring. In a first, non-contacting embodiment, light is directed along a line which is the axis of the ring and directed outwardly and focused at the ring. A circular detector coaxial with the light ring is positioned to sense intrusion onto that ring of an object, and by using a circular diode array detector, one can detect both the presence and location of that object on the ring. According to another contacting embodiment, a disc is placed in the reference plane with the light shining through an opening therein, the disc being movable in any direction in said reference plane. When an object touches the disc at any point and moves it, this changes the location of the aperture through which the light passes.

Abstract: Method and apparatus for determining physical characteristics of an object, such as its location, utilizing a non-coherent fiber optic bundle. In one embodiment, a non-coherent fiber optic bundle containing up to 30% randomly non-aligned fibers is utilized and an object is imaged onto one end of the bundle and the image is transferred from the other end of the bundle to a photodetector comprising a plurality of discrete photodetector elements. The area of the lighted or unlighted portion at the other end of the bundle is utilized to determine the physical characteristics of the object.

Abstract: To determine whether an object, such as a tool, is worn or broken, there is embedded in the object an elongate fiber optic. One end of the fiber optic is at a surface of the object and such that a second, light emitting end of said fiber optic is located within the body of said object and spaced a distance from a further surface of the object, such that a portion of the object overlies the other end. When the object is broken or worn to such an extent that the other end of the fiber optic is exposed, light directed at the first mentioned end of the fiber optic will be detectable at the other end. Thus, by directing light onto the one end, and by detecting any light emitted at the second end, a worn or broken object is readily detected. The invention has particular use in the automatic inspection of tools in automated manufacturing.

Abstract: This invention relates to improvements in foundry procedures, particularly in-process and post process inspection with electro-optical sensor units. Principally addressed are: inspection of molds and cores to assure correctness and control procedures to abort pouring if the molds are not correct, inspection of cores on the core line, inspection of patterns for sticking sand, inspection of finished castings for extraneous material in passages, excessive or inadequate stock, correct locator relationships, etc., and control of robotic flash grinders.Both fixed and programmably moveable sensors are shown in the context of these embodiments.

Abstract: A method is provided for weighing and filling a plurality of containers. The method involves providing a plurality of moving weigh members each comprising a moveable member which is moveable in proportion to the weight of material in a container weighed by the weigh member, and a fixed reference member fixed with respect to the weigh member so as to move therewith. The position of the moveable member of each weigh member is automatically and electrooptically measured relative to the fixed reference member thereof. The weight of the material in the container is determined from the relative position of the moveable member with respect to the fixed reference member. Based on this determined weight, filling of the container, or subsequent filling of similar containers, is terminated, added to or subtracted from.

Abstract: Apparatus and method for determining dimensions of an object. In one embodiment, apparatus comprises a support structure, means for positioning an object, at least one gage member having a contact portion for contacting a surface of a positioned object and an edge movable with said contact portion. The gage member is positioned in a contact position in which it is in contact, or nearly in contact, with a position object. The position of the edge is proportional to a dimension of the object between the contacted surface and a reference point of the object. The reference point may be within the object, such as an axis of rotation, or on a surface of the object. A light source is provided to direct light onto the edge and a lens is used to focus the image of the edge on a light detector comprising a plurality of light sensitive elements capable of producing an output signal in response to incident light.

Abstract: Bathing systems with electronic and optionally microcomputer control of optionally multiple functions, user safety being assured by fibre-optic remoting techniques. Systems include electrically safe optical control means to be positioned in or proximate to the bathing location, this location being a swimming pool, bathtub, whirlpool bath, shower, bidet, or similar installation. These systems also include such valves, pumps, pulsation-causing devices, water conditioning devices, and the like, as may be required by any of the multiple functions that may be desired, all of these devices being under the control of a single electronic controller responsive to the optical control means at the bathing location, and also responsive to various water condition sensors.

Abstract: A method and apparatus are provided for analyzing the light pattern produced on a photodetector array. The signal produced by the array is filtered with a low pass filter and the output of the filter is differentiated to obtain either the first or second derivative of the filtered signal for one or more points in the pattern. The zero crossing of the differentiated signal is detected and the zero crossing point is timed relative to a further point, e.g., the start of the scan of the array, so as to obtain an output related to the position of the corresponding point or points in the pattern.

Abstract: A method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

Abstract: A method and apparatus is disclosed for determining physical characteristics, such as defects, in the outer surface of an elongate object, wherein the object to be inspected passes through an aperture of a mirror surface which is a conical surface of revolution. Light directed onto the mirror surface in an axial direction is reflected by the object surface, imaged, and analyzed to determine a physical characteristic of the object surface.

Abstract: Method and apparatus for inspecting threaded objects and for determining the depth of blind holes. For inspecting threads, a light source is provided for illuminating threads of a threaded object. A lens forms an image of the illuminated threads. A detector having a light sensitive area sufficiently small to resolve the thread image is provided to detect the image and an output signal is produced in response to the incident image light. The output signal is analyzed to determine the quality of the threads. For determining the depth of a blind hole, a light source forms a spot on the bottom of a blind hole in an object and the lens forms an image of the spot. Means are provided to detect the spot image to produce an output signal responsive to the incident image light. Means are provided to analyze the output signal to determine hole depth.

Abstract: A method of determining physical characteristics of a surface. Light or other electromagnetic radiation is directed onto a first portion of a surface and the reflected radiation is received such as by a photodiode. The radiation is also directed onto at least two further portions of the surface and located on either side of and proximate to the first portion. The radiation reflected by the further portions is also received. The radiation reflected from the first portion is compared with the radiation reflected from the two further portions. The radiation and comparison steps are repeated and the comparisons are used to determine a physical characteristic of the surface, such as the presence of one or more flaws. In another embodiment, light or other electromagnetic radiation is used to determine object dimension, such as bore dimension.