Abstract: A method and apparatus to search, locate and inspect an object or characteristic of interest on a non-rigid package. First, a model of patterns of interest are stored to train the system with a model of the characteristics of interest. A minimum spanning forest (MSF) is generated defining the characteristics of interest as vertices with each vertex referencing a vertex closest to itself in order to minimize the sum of the distances between vertices in each minimum spanning tree (MST) of the MSF. At run time two coarse alignment features that the system has been trained to identify are located to determine rotation and coarse position of a non-rigid package being inspected. Local alignment then determines the exact position of local alignment points each of which is a starting vertex associated with one or more characteristics of interest as vertices in that starting vertexes MST.

Abstract: A method for accurately determining a center of target marks provided on a workpiece. The method involves imaging, at an imaging station, a circular target mark associated with the workpiece. A signal produced by the imaging operation is binary-encoding, in an image processor, and displayed on a monitor screen connected to said image processor. Starting points X1 and X2 of a different level of intensity are detected by scanning in one of either an X-axis direction or a Y-axis direction on a center of a cursor (shown on the monitor screen) when the center of the cursor is within the target mark. Other starting points Y1 and Y2 of a different level of intensity are detected by scanning in another of the X-axis direction or the Y-axis direction on a mid-point of coordinates of the starting points X1 and X2.

Abstract: We disclose: (1) a method for tensioning an ID saw blade, which comprises observing position of the cutting edge of the ID saw blade by using a CCD camera, exhibiting the observed position of the cutting edge of the ID saw blade on a display, adjusting tensioning screws while the position of the cutting edge of the ID saw blade exhibited on the display is watched, and disposing the cutting edge of the ID saw blade at a position within a preset allowable range which is exhibited on the display; and (2) an apparatus for monitoring tensioning of an ID saw blade which comprises a CCD camera for observing the position of the cutting edge of the ID saw blade, a display for exhibiting the observed position of the cutting edge of the ID saw blade, and a mechanism for exhibiting on the display an allowable range for the position of the cutting edge of the ID saw blade which is set in advance.

Abstract: A mounting and proofing apparatus has plate and layout cylinders rotatably mounted in a frame in parallel alignment to each other. A partial mirror is disposed proximate the plate and layout cylinder to permit a user looking into the partial mirror to view superimposed images of the layout and plate cylinders. At least one video camera is disposed above and directed at the partial mirror to image the superimposed images upon a video display having radicle markings. A layout sheet is installable on the layout cylinder indicating proper positioning of printing plates on the plate cylinder. The video camera optionally magnifies superimposed images of registration marks on the layout sheet and the plate cylinder. The user aligns the radicle with the registration mark, places a printing plate on the imaged area of the plate cylinder, and then aligns corresponding registration mark on the printing plate with that of the layout sheet.

Abstract: An optical cutting image which has a maximum portion in the X-axis direction on the screen of an image sensing device and which extends in the X-axis direction away from the maximum portion so as to expand in the Y-axis direction is measured by means of plural windows to be set on both side portions of the image as seen in the Y-axis direction, equations to represent the image lines of both side portions, and the like. The position of a front end point of the image is measured. A first window which is oblong in the X-axis direction is set such that the front end point is contained therein. A position of the center of gravity of image inside the first window is measured. Second and third windows which are oblong in the Y-axis direction are set at a position which is backwardly away by a predetermined length from the center of gravity of image inside the first window in the X-axis direction to measure the position of the center of gravity of image inside each of the windows.

Abstract: A substrate alignment and exposure system is disclosed The alignment is performed by capturing an image of the substrate with a pattern recognition system, determining the offset from the alignment and moving the substrate relative to the reticle to be in alignment. A first optical alignment system which captures an image of a position of the substrate off of the primary axis of the exposure optics is used to perform pre-alignment. A second optical alignment system captures an image of the reticle and the substrate through the lens of the exposure optics. The pattern recognition system recognizes the alignment keys on the reticle, alignment targets on the substrate, and computes their positions and displacement from alignment. The relative alignment can be direct or inferred. Any angular and translational misalignment is calculated. The pattern recognition system then moves the substrate to be in alignment with the reticle.

Abstract: A pickup system comprising a robot having a gripping member fitted with a camera for acquiring an image of the object to be picked up, which image is supplied to a control section by which it is processed for determining a predetermined point, typically the center, of the object by generating shifted inverted images of the object and intersecting the shifted inverted images and the original image.

Abstract: A method and device for transforming a video signal representing a video image into a signal representing an image for a display matrix useful in equipment for centering spectacle lenses are disclosed, the device comprising a unit supplying a video image of the lenses, a unit furnishing data for a spectacle frame, a microprocessor which generates an image of said frame and an alignment pattern for superimposition in the image of said lenses, and a flat panel display device.

Abstract: In wire bonding used in manufacturing, for example, semiconductor devices, inputting of the coordinates of the first and second leads of a lead frame, on which a semiconductor chip is installed, into an operation controller makes it possible that the coordinates of all of the remaining leads are automatically calculated by an image processor and the bonding coordinates for such leads are also automatically calculated.

Abstract: An apparatus and method are provided to energize an optoelectric component, such as a semiconductor laser chip, exciting a lasing gap to emit light from the front facet of the chip. The laser is positioned on a transparent tool element having a conductive portion thereon. The conductive portion is preferably a metallized ITO surface transparent to visible light. This allows the laser to be energized while simultaneously looking through the tool element to image a feature on the laser. The lasing gap is then located with a high degree of precision with respect to this feature. This precise location information is used to position and bond the laser chip with respect to an optical transmission line with precise alignment.

Abstract: A visual sensor coordinate system setting jig comprising a jig including a plurality of feature points arranged at known intervals in an array state corresponding to a visual sensor coordinate system, and a visual sensor to receive an image of the plurality of feature points of the jig, at least three of the plurality of feature points each having a distinguishing appearance which the visual sensor recognizes to discriminate the at least three feature points from the other of the plurality of feature points, the at least three feature points representing an origin and coordinate axes of the visual sensor coordinate system, and the visual sensor to identify the origin and the coordinate axes of the visual sensor coordinate system based on the array state of the plurality of feature points and the distinguishing appearance of the at least three feature points.

Abstract: A method of locating an object which has a straight edge is disclosed. An illustrative embodiment of the invention orients the object's edge so that it is at an oblique angle to the axis of the coordinate system of the sampling plane of the input device scanning the object. A subset of the pixels associated with the object's edge are identified and used to estimate the location of the object or edge.

Abstract: To be able to acquire pendulum oscillations in the case of cranes with a high degree of accuracy, a marking having a reflecting surface is disposed in the area of the load. Mounted on the crane are both lighting equipment directed at the marking as well as a line-scanning camera that is likewise directed at the marking and that has an image-sensor linear array. The image-sensor linear array is aligned longitudinally to the direction of swing (x). Its signal is evaluated in an evaluation device to determine the instantaneous position of the marking.

Abstract: An alignment system for a scanning camera and illumination source includes a tape having a plurality of fiducials arranged systematically in opposition about a common center line. The camera is supported on a gimbaled platform for adjusting roll, pitch and yaw to bisect the tape fiducials with the camera scan line. The tape is mounted by holders received in datum definition hardware to insure intimate contact with a product surface. The holders facilitate adjustment of the tape fiducials relative to the machine center line in a surface inspection system such as a web scanner. Position indicating gauges facilitate alignment of an illumination source to the same center line.

Abstract: A device 12 acquires substantially centered images of moving items. A strobe (36) illuminates an item (16) while a camera 28 having a view (29) with a view center (39) acquires an image of that item (16). A position sensor (38) generates an indication signal that indicates when an item (16) is substantially a predetermined distance (D) from the view (29), and an image-data memory (31) stores data representing each image. A processor (24) executes a program for waiting a delay from each indication signal and then instructing the strobe (36) to fire, the camera (28) to acquire an image, and the image-data memory (31) to store the image. The processor (24) then determines an offset value representing the offset of the image from the view center (39), updates an average offset value using the offset value, and updates the delay using the updated average offset value. A program memory (20) stores the program, and a working memory (20) stores the offset value, the delay, and the average offset value.

Abstract: An image processing apparatus calculates a feature of an object for recognition with a high degree of accuracy. Image information taken by a camera attached to a robot is first digitized and then stored into an image memory. A program in a robot program storage section includes instructions for operation of the robot and an instruction requesting an image processing CPU to extract a feature for recognition of an object being worked upon (e.g., a ring with a projection). In response to an instruction from a robot instruction analyzing and executing section, the image processing CPU determines a removal range for image information in the image memory, extracts a feature (e.g., a projection) of the object for recognition (e.g., a ring with a projection), executes a calculation regarding the feature (e.g., a moment calculation and so forth) and delivers a result of the calculation to the robot instruction analyzing and executing section.

Abstract: A method of calibrating a CCD camera comprising those sequential processes comprises steps of shifting a spot light source held by a positioning device, in front of a fixed CCD camera between two remote points on a visual line in order that light beam in the center of the light source can be incident upon predetermined picture element of a solid sensor built in the CCD camera, computing angles between a plurality of visual lines generated by shifting the light source and the optical axis of the CCD camera based on position data related to the positioning device, and calibrating the corresponding relationship between the angle of light beam incident upon the CCD camera and the predetermined picture elements built in the solid sensor.

Abstract: A slider is associated with a carrier for transferring a vehicle body through a magnet and an air cylinder. An amount or a distance of movement of the slider transferred together with movement of the carrier is detected with a rotary encoder and it is computed as an amount or a distance of movement of the carrier. When the carrier is transferred in a predetermined amount or distance, an image of the vehicle body is fetched by an investigating robot. The fetching does not undergo any adverse influence due to a deviation of the position of the investigating robot relative to the position of the carrier.

Abstract: A 3D printer and method which uses a beamsplitter or a mirror to form a reflected image which is a mirror image of the actual image exposed on the print material. A CCD detector array is placed on the reflected image plane to monitor the key-subject registration. The beamsplitter or mirror is physically linked to the print material cassette so that the CCD detector array shares the same projected image that is exposed on the print material regardless of the printing position. With such an approach, the CCD detector array can directly detect any off-alignment due to mechanical errors or distortion/aberration by the projection lens.

Abstract: In a method of setting flat elements in relation to a reference device, in particular stamping dies or the like, and for aligning embossing blocks relative to an embossing original outside a stamping machine by means of a camera and picture screen associated therewith, the camera position is set over a holding frame and a marking at one side of the holding frame and displaced until the image of the camera on the picture screen is coincident with a line of a reticle, whereafter the camera is moved over a second marking, which is approximately aligned with the first marking, at the other end of the holding frame and then the rear part of the holding frame is displaced at a right angle to the first direction of travel until the image of the second marking on the picture screen is coincident with that reticle line.

Abstract: A log scanning system applies circumferentially spaced, traverse scans along the length of the log to provide a longitudinal density scan for each of the scans made. Each scan is made up of rows of density dependent pixels sensed by specific detector (scan line) and columns of density dependent pixels sensed by adjacent detectors arranged transversely of the log. The signals generated along each row to are filtered to produce a clean signal scan line and each clean scan line is processed to determine positive peaks. The positive peaks are plotted to form an image and adjacent peaks in adjacent rows and columns are joined to provide a spine image depicting spines of detected knots in each scan. Knot shapes are then defined by reprocessing each scan along the rows or scan lines to determine the knot boundaries on each side of each of the spine lines based on pixels displaying a selected minimum density and these shapes applied to the spine image to provide a reconstructed scan.

Abstract: Apparatus and methods are disclosed for automatically inspecting two- or three-dimensional objects or subjects. A detector and the object are moved relative to each other. In one form, a detector, such as a camera or radiation receiver, moves around an object, which is supported to be rotatable such that the detector may receive electromagnetic energy signals from the object from a variety of angles. The energy may be directed as a beam at and reflected from the object, as for visible light, or passed through the object, as for x-ray radiation. Alternatively, the detector passively receives energy from the object, as in an infrared detector. The detector generates analog image signals resulting from the detected radiation, and an electronic computer process and analyzes the analog signals and generates digital codes, which may be stored or employed to control a display.

Abstract: A system and method for using a camera and an associated display means for facilitating the loading of the distinguishing characteristics of a workpiece into the control system for a machining system to allow machining of workpieces in accordance with a stored program.

Abstract: A visual sensor calibration method of calibrating of a visual sensor in a robot system. A pattern plate is provided on an arm of a robot, and the calibration pattern data (CPDr) of the pattern plate on robot's base coordinates is sent from a robot controller to a visual sensor controller. The visual sensor controller picks up an image of the pattern plate by a camera to obtain calibration pattern data (CPDc). The calibration data (CD) is obtained from the calibration pattern data (CPDr) and the calibration pattern data (CPDc), to thereby calibrate the visual sensor.

Abstract: The invention is a method and apparatus for continuously monitoring the application of a coupling to a pipe. The invention operates in several modes. In the position mode, the apparatus rotates the coupling to a desired final position. In the program mode, the apparatus determines the actual location of the hand-tight plane and continuously monitors the torque applied and the number of turns of rotation of the coupling from the hand-tight plane to the desired final position. In either of these modes, the torque applied is monitored and rotation of the coupling is discontinued if a preset maximum torque value is exceeded. If the coupling is rotated to the desired final position without reaching a minimum torque, the pipe and coupling are rejected. An image processing system is employed to locate several critical make-up parameters.

Abstract: A color line scan video camera (50) for inspecting articles (18) includes a prismatic beam splitter arrangement (52) that receives a wide spectrum of visible light from a variable magnification objective lens arrangement (54) to provide improved multi-color inspection capability. The prismatic beam splitter separates the light received from the scanned articles into three preselected spectral bands of light, each of which is imaged upon a different charge-coupled device line scan sensor that generates a corresponding color component video signal. The light transmission characteristics of the lens are "color-corrected" to transmit uniformly the light received from the scanned articles.

Abstract: A method for monitoring conditions of printing plates in a marking device which uses relief-plate printing. The method employs a camera installed beneath a movable printing plate so that the condition of the printing plate is checked via the camera. A device utilizing such a method includes a plate holder to which the printing plate is attached, an X-Y-Z driver which moves the plate holder in X, Y and Z directions, a camera installed with its photographing side facing up and positioned away from a workpiece carrying table which positions and carries a workpiece that is to be printed, an image processor which processes image signals from the camera, and a monitor which displays images in accordance with the output of the image processor. Thus, the printing plate is photographed by the camera and its condition is checked.

Abstract: Apparatus for monitoring the lateral movement of a traveling web comprises at least two cameras connected to an image reproducing split-screen monitor whereby the images are juxtaposed for comparison of web edge alignment.

Abstract: A technique for aligning features on opposite surfaces of a substrate by generating a fiducial image at an image plane and identifying the location of the image at a viewing device remote therefrom, e.g., a video display screen. The substrate is placed so that one surface thereof, on which a feature is to be placed in alignment with a corresponding feature already present on the other oppositely disposed surface, is at the image plane. The one surface has photoresist material thereon. With the fiducial image turned off, an image of the feature on the other oppositely disposed surface is presented at the viewing device and the substrate is moved in the image plane until the image of the feature at the viewing device is at the previously identified location of the fiducial image.

Abstract: An aligning system includes an object to be acted upon at predetermined locations, such as a circuit board to receive solder paste. There is a device, such as a stencil, characterized by the pattern for acting upon the object. A video probe is arranged to look at both the device and the object for providing image signals representative of both. A comparator compares the image signals to provide an error signal representative of misalignment between the device and object. A positioner responsive to the error signal relatively positions the device and object to reduce the error. An operator causes the device to operate upon the object at the predetermined locations.