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1. 发明授权

US5519496A Illumination system and method for generating an image of an object 失效
公开(公告)号：US5519496A
公开(公告)日：1996-05-21
申请号：US179647
申请日：1994-01-07
申请人： Gerald D. Borgert , Robert J. Bartlett , James F. Ellison
发明人： Gerald D. Borgert , Robert J. Bartlett , James F. Ellison
IPC分类号： G01N21/84 , G01J3/10 , G01N21/88 , G06T1/00 , G01B11/00
CPC分类号： G01N21/8806 , G01J3/10
摘要： An illumination system having a lighting dome, a vertical light source, an image acquisition means, and a light controlling means, a system controller and a three-axis servo system wherein the dome is of unitary printed circuit board construction populated with a plurality of surface mounted light emitting diodes is disclosed. The dome has a first longitudinal axis and is bendable along hinges formed through the circuit board to define a partially enclosed dome having eight octants or sections, each section having an upper and lower tier portion defining a plurality of planar illumination banks, which illuminate an object from 360.degree. around the object and from predetermined angles relative to the first longitudinal axis. The vertical light source, which is a planar printed circuit board populated with surface mounted LEDs, and the beam splitter are provided for illumination of the object with light parallel to the first longitudinal axis. The planar geometry of the illumination banks and the vertical lighting source cause the LEDs to emit light rays that are substantially parallel. The light controlling means controls the intensity of each section and tier portion through pulse width modulation of the respective plurality of light emitting diodes. The acquisition means is provided for acquiring reflected light rays to generate an image of the illuminated object. The increased density of the surface mounted diodes increase the light intensity produced over known illumination systems employing conventional LED mounting techniques. Moreover, the light controlling means can be programmed via the system controller to light any of the panels at a selected intensity. The system controller control the servo system to move the acquisition means in any of three axis so that the acquisition means can capture an image of a preselected area of the object. The system controller processes the captured image to detect a feature of the object.

2. 发明授权

US4833381A Optical automatic seam tracker and real time control system for an industrial robot 失效
标题翻译：用于工业机器人的光学自动缝线追踪器和实时控制系统
公开(公告)号：US4833381A
公开(公告)日：1989-05-23
申请号：US139890
申请日：1987-12-31
申请人： Jeffrey D. Taft , James F. Ellison , Gerald A. Breakey
发明人： Jeffrey D. Taft , James F. Ellison , Gerald A. Breakey
IPC分类号： B25J13/08 , B23K9/127 , B23Q35/128 , B25J9/18 , B25J19/04 , G05B19/425 , G05D3/12
CPC分类号： G05B19/425 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： A control processor in a robotic system treats optically sensed locations along the seam path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by interpolation between acutally sensed locations. A taught path is recovered from the robot. The control processor operation is also based on elapsed distances and related to actual tool position provided by the robot.

3. 发明授权

US4794452A Through flame optical viewing 失效
标题翻译：通过火焰光学观察
公开(公告)号：US4794452A
公开(公告)日：1988-12-27
申请号：US9846
申请日：1987-01-30
申请人： Jeffrey D. Taft , James F. Ellison
发明人： Jeffrey D. Taft , James F. Ellison
IPC分类号： F27D21/02 , G01N21/55 , G02B23/24 , H04N7/18
CPC分类号： F27D21/02 , G01N21/55 , G02B23/2492 , F27D2021/026
摘要： A method and apparatus for illuminating a target, for example the wall and internal structures of a coal, oil, or gas fired combustion chamber for remote viewing. A coherent light source is used to illuminate the target with illumination of a selected spectral content different from that produced by ambient light resulting from the combustion of the fuel. The coherent light illuminates the target and a narrow band optical filter is placed in front of a viewing camera to filter ambient light but to pass the illuminating source reflected from the target. The coherent light source has a wavelength range of about 422 nm to about 780 nm. Source wavelengths are chosen to be sufficiently long to penetrate particulate laden gases and still be distinguishable from thermal radiation inside the furnace. A human observer may manipulate the laser source and view the target using filter spectacles.
摘要翻译：用于照射目标的方法和装置，例如用于远程观察的煤，油或燃气燃烧室的壁和内部结构。相干光源用于通过照射不同于由燃料燃烧产生的环境光产生的选定光谱含量来照亮目标物。相干光照亮目标，并且将窄带光学滤光器放置在观察照相机的前面，以过滤环境光，但是通过从目标反射的照明光源。相干光源具有约422nm至约780nm的波长范围。源波长被选择为足够长以穿透含颗粒的气体，并且仍然可以与炉内的热辐射区分开。人类观察者可以操纵激光源并使用滤光眼镜观察目标。

4. 发明授权

US4849679A Image processing system for an optical seam tracker 失效
标题翻译：用于光缝跟踪器的图像处理系统
公开(公告)号：US4849679A
公开(公告)日：1989-07-18
申请号：US140858
申请日：1987-12-31
申请人： Jeffrey D. Taft , James F. Ellison , Gerald A. Breakey
发明人： Jeffrey D. Taft , James F. Ellison , Gerald A. Breakey
IPC分类号： G01B11/24 , B23K9/127 , B23Q35/128 , B25J9/18 , B25J19/04 , G01N21/88 , G01N21/93 , G05B19/425 , G06T7/60
CPC分类号： G05B19/425 , B23K9/1274 , B23Q35/128 , G05B2219/36417 , G05B2219/45104 , G05B2219/4701
摘要： An image processing system uses the digital expression of the video image of a light stripe derived optically from a seam to create a 1-D signal representative of a one-pixel wide line. The target coordinates for the tool operating on the seam is converted directly into 3-D tool position and orientation from the 1-D signal. Matching with models is effected in real time by comparing symbolic attributes of the graphs built up with the 1-D signal and with standard seams. From such matching is selected the operative corner, or target for the tool.

5. 发明授权

US4965499A Parametric path modeling for an optical automatic seam tracker and real time robotic control system 失效
标题翻译：光学自动缝线跟踪器和实时机器人控制系统的参数路径建模
公开(公告)号：US4965499A
公开(公告)日：1990-10-23
申请号：US288651
申请日：1988-12-22
申请人： Jeffrey D. Taft , James F. Ellison
发明人： Jeffrey D. Taft , James F. Ellison
IPC分类号： B23Q35/128 , B25J9/16 , B25J9/18 , G05B19/42 , G05B19/425
CPC分类号： B23Q35/128 , B25J9/1664 , B25J9/1684 , G05B19/42 , G05B19/425 , G05B2219/36417 , G05B2219/37572 , G05B2219/45104 , G05B2219/4701
摘要： A control processor in a robotic system treats optically sensed locations along the path ahead of the tool, which are classified in relation to elapsed distances and identified in 3-D coordinates and 3-axes tool orientation, to apply in real time and under feedforward a control signal representing the error between anticipated tool position and anticipated sensed location on the path. In the process, the anticipated sensed location is obtained by reference to a model made ahead of time with the stored sensed locations grouped as a function of elapsed distances and having a common algebraic feature, such as the slope or the change of slope. A taught path for the robot has been recovered by the control processor also based on elapsed distances and control is related to actual tool position provided by the robot.
摘要翻译：机器人系统中的控制处理器处理沿着工具前方的路径的光学感测位置，其根据经过的距离被分类，并且以3-D坐标和3轴工具取向被识别，以实时和前馈a 控制信号表示预期工具位置与路径上预期感测位置之间的误差。在该过程中，通过参考提前制作的模型，通过将存储的感测位置分组为经过的距离的函数并具有公共代数特征（例如斜率或斜率变化）获得预期感测位置。机器人的教导路径已经由控制处理器基于经过的距离恢复，并且控制与机器人提供的实际工具位置有关。

6. 发明授权

US4741621A Geometric surface inspection system with dual overlap light stripe generator 失效
标题翻译：具有双重重叠光条纹发生器的几何表面检测系统
公开(公告)号：US4741621A
公开(公告)日：1988-05-03
申请号：US897473
申请日：1986-08-18
申请人： Jeffrey D. Taft , James F. Ellison
发明人： Jeffrey D. Taft , James F. Ellison
IPC分类号： G01B11/25 , G01S17/42 , G01B11/24
CPC分类号： G06T7/0057 , G01B11/25 , G01S17/42
摘要： The present invention includes a surface inspection system with a single light source producing two light stripe sheets projected from different angles onto an inspected surface so that a combined light sheet produces a light stripe image with no shadows results. The two light stripe sheets are created by tangentially reflecting a laser beam off of separate cylindrical reflectors. The light stripe is detected by an imaging system, including a camera having a CCD image array, held at a fixed angle with respect to the light sheet which allows the two-dimensional curvature of the stripe to be detected. The two-dimensional light stripe image is converted into a digital image and processed by linear and logical digital filters that narrow the stripe down to two pixels wide. A coordinate extraction apparatus extracts the coordinates of the bottom row of the pixel image producing a digital representation of the light stripe curve. The sample curve is compared by a computer with a reference curve by obtaining the absolute value of the difference in height of points along the sample and reference curves after alignment and comparing the absolute value to an error or tolerance threshold. Any deviation beyond the fixed tolerance is reported as a surface irregularity defect.
摘要翻译：本发明包括具有单个光源的表面检查系统，其产生从不同角度投影到被检查表面上的两个光条片，使得组合的光片产生不产生阴影的光条纹图像。通过将激光束切向反射离开单独的圆柱形反射器来产生两个光条带片。该光条由成像系统检测，该成像系统包括具有CCD图像阵列的照相机，该相机具有相对于允许检测条纹的二维曲率的光片固定的角度。将二维光条纹图像转换为数字图像，并通过将条纹缩小到两个像素宽的线性和逻辑数字滤波器进行处理。坐标提取装置提取产生光条纹曲线的数字表示的像素图像的底行的坐标。通过计算机与参考曲线比较样本曲线，通过获得沿着样本的点的高度差和对准后的参考曲线的绝对值，并将绝对值与误差或公差阈值进行比较。超出固定公差的任何偏差都报告为表面不规则缺陷。

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