Abstract: Robotic machines such as coordinate measuring machines, contour projectors and other optical measuring machines are provided wherein a pulsed light is used to "freeze" the dimensional or positional data. The light source of an electro-optical sensor which in motion on the machine during an inspection operation is pulsed responsive to a triggering pulse from an encoder. Where the motion is in more than a single axis, the triggering pulse can be provided from that encoder which experiences the most rapid motion or which is associated with the direction of the greatest dimension change of the part under inspection. Several different forms of position encoding apparatus are also disclosed.

Abstract: Target based machine vision method and apparatus are disclosed, useful for alignment of sensors and other objects affixed to structures, robots and the like.While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.

Abstract: An apparatus and method for sensing the presence or location of an object in a plane perpendicular to a reference axis is disclosed. An optical detector using triangulation techniques is used to sense the presence or rough location of the object. A contact detector is then used to determine the precise location of the object. The presence or location of the object can also be detected in a plane including the reference axis. The probe device containing the two detectors is preferably moved quickly while the rough location is determined and more slowly to determine the precise location. The contact detector can be an optical contact probe moved by an auxiliary moving device attached to a main moving device. Various optical contact detectors are also disclosed.

Abstract: This application discloses systems for use in the accurate positioning of robot arms and and similar automation. It is adjunct or alternative to present methods utilizing digital coordinates transmitted from encoders based in the joints of the manipulator arms to provide control signals for motor actuators positioning said arms.

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: 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. A target is preferably located at one boundary of the field which serves as a reference. The position of the machinery in the field is determined by electro-optically sensing the target with a sensor located on the machinery. A desired trajectory for the machinery is then determined and the machinery is steered automatically along this trajectory.

Abstract: Novel method and apparatus are disclosed which assist in utilization of ranging type non-contact sensors with coordinate measurement machines (CMM's ) and other machines. Various visual and/or audible indicators are provided to assist the operator in using the machine.

Abstract: A method and apparatus for calibrating a computer guided robotic apparatus. At least one camera mounted on the robot arm or fixed at the work station views a target comprising a pattern of at least three dots fixed to the other of the robot arm or work station, such viewing taking place as the robot arm approaches the work station to carry out the intended operation. The sensing of any deviation relative to a predetermined target pattern is transmitted to the computer to reset the robot's computerized guidance system.

Abstract: A method and apparatus is disclosed for setting up fixed and robotic systems by using a robot programmed by design data for a part of structure to simulate a master of same. Envisioned primarily for use in auto body fabrication processes, the invention is generally useable with smaller parts and assemblies. It is considered vitally useful for programmable assembly of bodies or other larger objects where a variety of styles or other considerations virtually preclude effective master parts. The invention sequentially creates, point by point, a master in space, using programmable placement of master surfaces, target points, or cameras capable of evaluating location of assembly robots and other items, generally from target points thereon.

Abstract: Disclosed is an improved electro-optical triangulation distance sensing method and apparatus incorporating a reference detector to detect light returned from an object surface and so control light power, integration time (or other characteristic) of the primary image sensing photodetector. Ideally the reference detector is the same size as the primary photodetector and positioned effectively to see the same image of a zone of light projected on the object surface. Also disclosed are useful calibration methods for such sensors.

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: A method and apparatus for controlling a detector array based optical system using reflected or transmitted light for machine vision is disclosed. The light characteristic such as power (intensity) or distribution of power received by the optical system is detected and an electrical signal indicative of said characteristic is transmitted to a remote control system. The control system then adjusts a light power related variable of the optical system when the received light characteristic signal is deficient. A method and apparatus for linearizing the output of a diode array is also disclosed. An element correction array is set up in a microprocessor and an encoding device providing precise edge movement data is moved past the elements of the diode array so that the data from the encoder and from the diode array can be compared and the difference inputted as offset values for the corresponding positions of the elements in the correction array.

Abstract: A method an apparatus are provided for inspecting the surface of objects such as panels for automobile vehicles wherein the surface of the object is sprayed with an oil mist or the like to increase the reflectivity thereof. The surface is then illuminated with light so that the light image reflected therefrom is formed on a light detector such as a photodiode array. The output of the light detector is analyzed to determine surface features of the object such as "dings" and dents therein.

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: This invention relates to the electro-optically based sensor units of use in measuring the "fit up" of panels as on car bodies, aircraft, etc. The disclosed invention is capable of measuring both the gap between the adjacent panels and their relative positions to obtain the width of the gap, the location of the edges of the panels can be estimated by fitting curves to the measured data, or "flushness", in the direction out of plane. Embodiments include a hand-held portable unit capable of being used on finished assemblies such as car bodies, and aircraft sections, as well as on "ring" gages in which a single test panel is checked relative to a reference frame or "ring".

Abstract: A method and apparatus for provided for sensing the location of a surface of an object in the presence of localized surface contamination, roughness or other minor irregularities. A light image of pattern is imaged onto a photodetector corresponding to each of a plurality of points or zones on the surface of an object illuminated with light so that the photodetector produces an electrical output signal related to the relative location of the individual points or zones. Values represented by the electrical signals are then averaged and the results used in determining the location of the surface. Values falling outside of a preselected threshold or thresholds can be discarded in evaluating the results, in lieu of, or prior to, averaging.

Abstract: Method and apparatus are disclosed for determining the position and attitude of objects, together with robotic systems employing same, and methods of targeting objects for such purposes.Particularly of interest is the application to continuous conveyors, particularly in the process of automobile manufacture.

Abstract: This invention relates to electro-optical sensing of form type and other defects on surfaces such as sheet metal or plastic panels. Method and apparatus are disclosed for detection and quantification of defects such as dents, creases, low spots, flat spots, etc. which are a result of the manufacturing, material handling and assembly process. Surfaces of interest are generally those of automobile body panels, (e.g. hoods, fenders), refrigerator panels, furniture panels, and aircraft panels. Similar applications exist to dies and other formed metallic or plastic parts. Both automatic and human visual methods and apparatus are disclosed. The disclosed invention is also effective on paint defects such as orange peel encountered in automotive and other applications. Assemblies of panels, such as car bodies may also be inspected using the invention, and both fixed and moving (e.g. robotic) sensor versions are disclosed.

Abstract: Disclosed are method and apparatus for determining and assuring correct fill weight of containers. In one embodiment electro-optical weigh cells are employed in conjunction with weigh dump receptacles. A second embodiment discloses addition of a second container weighing operation with addition of optional additional fill operations.

Abstract: This invention relates to new and useful electro-optical methods and apparatus using photodetector arrays for measurement of parts and other objects in industrial environments. Several particularly useful optical embodiments are illustrated together with desirable electronic circuitry for improving the accuracy of practical systems of this type.