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: Method and apparatus are provided for correcting positional data produced by a machine including a member moveable in at least two co-ordinate axes. The machine includes an encoder for providing rough position data indicating the coarse position of the member in each of the axes and provision is made for moving the moveable member to a position data correction location wherein the actual position of the member is determined electro-optically in the two coordinate axes relative to a reference point external to the machine. A signal representative of the actual position is generated and used to correct the rough position data provided by the encoder.

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.

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: 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 inspecting workpieces for rapid and accurate determination of dimensions and the like. The equipment is electro-optical in nature and there is no contact between the inspecting elements and the workpiece under inspection. An electro-optical sensor is utilized which includes a light source for illuminating at least one edge of a workpiece, a lens for forming an image of the illuminated edge, and an array of photosensitive elements, such as photodiodes, capable of producing an electrical signal in response to light incident thereon. The light, including the edge image, is impinged upon the array and the electrical signals produced correspond to the portion of the edge, its shape, etc. The signals can be rapidly analyzed to provide a determination of a dimension such as length, squareness, curvature, and the like.

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: Optical compensation systems are provided which compensate for deflections of the articulated sensor arm of a robotic inspection apparatus such as are produced under load. A light source located at the distal end of the arm produces a light zone, such as a "spot", which is coupled through the pivot joints to an electro-optical detector array or other light position sensor. Coupling through the joints is provided by fiber optic bundles which extend through the joints and whose ends are supported centrally within the arm sections to respectively pick up and transmit the detected "spot". The positional information from the detector is used to upgrade the positional data provided by optical encoders located at the joints.

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: Method and apparatus for measuring cylinder head combustion chambers and provide inputs to machines which can perform operations to assure that all combustion chambers are at a correct volume. Also disclosed are means for matching volumes of engine assemblies as well as precise machining of gears, turbine blades and other parts. Measurements are ideally made via electro-optical sensors, particularly triangulating types.

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: 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: 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 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: 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.