EP0087518A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Method and apparatus for image acquisition
Assignee: AUTOMATIX Inc
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Filing: 1982-12-21
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Granted: —
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Expires: 2002-12-21
Abstract
Abstract A method and apparatus for image acquisition utilizing a non-planar beam of electro-magnetic radiation, such as, a hollow conical beam (16) of light, to illuminate at least a portion (18) of an object (62). The illuminated portion (18) of the object (62) is imaged on an array (44) of photosensitive elements to produce corresponding signals that are representative of the image on the array. These signals can be used to obtain identification information concerning the object (62) and guidance information for a plural axis manipulator employed in conjunction with the object. In one application the image acquisition apparatus is used in a robot (58) to provide control signals for guiding the robot tool (60) along a path, such as, a welding seam.
Inventors
- 👤 Charles J. Libby, Jr.
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 02:14
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/02; G01B11/024; G01B11/24; G01B11/25; G01B11/2518
Claims Analysis
Total Claims: 77
Claim 1
Independent Claim
96 words
Method for image acquisition comprising the steps of: A. generating a non-planar beam (16) of electro-magnetic radiation; B. illuminating at least a portion (18) of an object with said non-planar beam (16) of electro-magnetic radiation; C. imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the object on an array (44) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the extent of the illuminated portion (18) of the object as a function of the ambient electro-magnetic radiation at said object.
Claim 2
Dependent Claim
96 words
Method for image acquisition comprising the steps of: A. generating a non-planar beam (16) of electro-magnetic radiation; B. illuminating at least a portion (18) of an object with said non-planar beam (16) of electro-magnetic radiation; C. imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the object on an array (44) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the extent of the illuminated portion (18) of the object as a function of the ambient electro-magnetic radiation at said object.
Claim 3
Dependent Claim
91 words
Method for image acquisition comprising the steps of: A. generating a non-planar beam (16) of light; B. illuminating at least a portion (18) of an object with said non-planar beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the extent of the illuminated portion (18) of the object as a function of the ambient light noise at said object.
Claim 4
Dependent Claim
91 words
Method for image acquisition comprising the steps of: A. generating a non-planar beam (16) of light; B. illuminating at least a portion (18) of an object with said non-planar beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the extent of the illuminated portion (18) of the object as a function of the ambient light noise at said object.
Claim 5
Dependent Claim
68 words
Method for image acquisition comprising the steps of: A. generating a conical beam (16) of light; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; and, C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 6
Dependent Claim
68 words
Method for image acquisition comprising the steps of: A. generating a conical beam (16) of light; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; and, C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 7
Dependent Claim
29 words
The method of claim 3 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 8
Dependent Claim
101 words
Method for image acquisition comprising the steps of: A. generating a conical beam (16) of light having an angular arc of selected angular width; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object.
Claim 9
Dependent Claim
101 words
Method for image acquisition comprising the steps of: A. generating a conical beam (16) of light having an angular arc of selected angular width; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object.
Claim 10
Dependent Claim
105 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; and, C. imaging at least part of said light beam (16) illuminated portion of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 11
Dependent Claim
105 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; and, C. imaging at least part of said light beam (16) illuminated portion of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array.
Claim 12
Dependent Claim
29 words
The method of claim 6 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 13
Dependent Claim
130 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object.
Claim 14
Dependent Claim
130 words
Method for image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object.
Claim 15
Dependent Claim
143 words
Method of image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder (14) with the angular arc length being related to the beam sweep width.
Claim 16
Dependent Claim
143 words
Method of image acquisition comprising the steps of: A. impinging a beam of collimated light on a reflective cylinder (14) to produce a conical beam (16) of light having an angular arc that is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon; B. illuminating at least a portion (18) of an object with said conical beam (16) of light; C. imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder (14) with the angular arc length being related to the beam sweep width.
Claim 17
Dependent Claim
39 words
The method of claim 9 wherein said collimated beam is swept across said reflective cylinder (14) by impinging the collimated beam on the reflective surface (48) of a scanning galvanometer (46) which directs the beam onto said reflective cylinder.
Claim 18
Dependent Claim
28 words
The method of claim 9 further comprising the step of controlling the sweep width by varying the amplitude of an alternating current applied to the scanning galvanometer (46).
Claim 19
Dependent Claim
31 words
The method of claim 9 further comprising the step of steering the angular arc of said conical beam (16) by varying the direct current bias applied to said scanning galvanometer (46).
Claim 20
Independent Claim
129 words
An apparatus for image acquisition comprising: A. means for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of an object; B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56,82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the object on said array means (44, 84) of electro- magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the extent of the illuminated portion (18) of the object as a function of the ambient electro-magnetic radiation at said object; and, E. utilization means (47, 64) responsive to said signals.
Claim 21
Independent Claim
129 words
An apparatus for image acquisition comprising: A. means for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of an object; B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56,82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the object on said array means (44, 84) of electro- magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the extent of the illuminated portion (18) of the object as a function of the ambient electro-magnetic radiation at said object; and, E. utilization means (47, 64) responsive to said signals.
Claim 22
Independent Claim
122 words
An apparatus for image acquisition comprising: A. means for generating a non-planar beam of light (16) that illuminates at least a portion (18) of an object; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the extent of the illuminated portion (18) of the object as a function of the ambient light noise at said object; and, E. utilization means (47, 64) responsive to said signals.
Claim 23
Independent Claim
122 words
An apparatus for image acquisition comprising: A. means for generating a non-planar beam of light (16) that illuminates at least a portion (18) of an object; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the extent of the illuminated portion (18) of the object as a function of the ambient light noise at said object; and, E. utilization means (47, 64) responsive to said signals.
Claim 24
Independent Claim
93 words
An apparatus for image acquisition comprising: A. means for generating a conical beam of light (16) that illuminates at least a portion (18) of an object; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56,82) for imaging at least part of said light beam (16) illuminated portion (18)of the object on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 25
Independent Claim
93 words
An apparatus for image acquisition comprising: A. means for generating a conical beam of light (16) that illuminates at least a portion (18) of an object; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56,82) for imaging at least part of said light beam (16) illuminated portion (18)of the object on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 26
Dependent Claim
29 words
The apparatus of claim 15 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 27
Dependent Claim
133 words
An apperatus for image acquisition comprising: A. means for generating a conical beam (16)of light having an angular arc of selected angular width that illuminates at least a portion (18) of an object; B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and E. utilization means (47, 64) responsive to said signals.
Claim 28
Dependent Claim
133 words
An apperatus for image acquisition comprising: A. means for generating a conical beam (16)of light having an angular arc of selected angular width that illuminates at least a portion (18) of an object; B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on an array (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. means (50, 78) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and E. utilization means (47, 64) responsive to said signals.
Claim 29
Independent Claim
140 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (64) responsive to said signals.
Claim 30
Independent Claim
140 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (64) responsive to said signals.
Claim 31
Dependent Claim
29 words
The apparatus of claim 18 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 32
Independent Claim
167 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50,48) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (64) responsive to said signals.
Claim 33
Independent Claim
167 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50,48) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (64) responsive to said signals.
Claim 34
Independent Claim
181 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50, 48) for controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder means (14) with the angular arc length being related to the beam sweep width; and, F. utilization means (64) responsive to said signals.
Claim 35
Independent Claim
181 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50, 48) for controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder means (14) with the angular arc length being related to the beam sweep width; and, F. utilization means (64) responsive to said signals.
Claim 36
Dependent Claim
49 words
The apparatus of claim 21 further comprising a scanning galvanometer (46) and wherein said collimated beam is swept across said reflective cylinder means (14) by impinging the collimated beam on the reflective surface (48) of the scanning galvanometer (46) which directs the beam onto said reflective cylinder means (14).
Claim 37
Dependent Claim
31 words
The apparatus of claim 21 further comprising means for varying the amplitude of an alternating current applied to the scanning galvanometer thereby controlling the sweep width of said collimated light beam.
Claim 38
Dependent Claim
31 words
The apparatus of claim 21 further comprising means (50) for varying the direct current bias applied to said scanning galvanometer (46) thereby steering the angular arc of said conical beam (16).
Claim 39
Independent Claim
120 words
An apparatus for image acquisition comprising: A. a rotatable mirror means (74); B. means (70, 72) for impinging a beam of collimated light on said rotatable mirror means (74) to produce a conical beam (16) of light having an angular arc of predetermined angular width that illuminates at least a portion (18) of an object; C. an array means (84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (47) responsive to said signals.
Claim 40
Independent Claim
120 words
An apparatus for image acquisition comprising: A. a rotatable mirror means (74); B. means (70, 72) for impinging a beam of collimated light on said rotatable mirror means (74) to produce a conical beam (16) of light having an angular arc of predetermined angular width that illuminates at least a portion (18) of an object; C. an array means (84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (47) responsive to said signals.
Claim 41
Independent Claim
148 words
An apparatus for image acquisition comprising: A. a rotatable mirror means (74); B. means (70, 72) for impinging a beam of collimated light on said rotatable mirror means (74) to produce a conical beam (16) of light having an angular arc of predetermined angular width that illuminates at least a portion (18; of an object; C. an array means (84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (84) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (78) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (47) responsive to said signals.
Claim 42
Independent Claim
148 words
An apparatus for image acquisition comprising: A. a rotatable mirror means (74); B. means (70, 72) for impinging a beam of collimated light on said rotatable mirror means (74) to produce a conical beam (16) of light having an angular arc of predetermined angular width that illuminates at least a portion (18; of an object; C. an array means (84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (82) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (84) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (78) for controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (47) responsive to said signals.
Claim 43
Dependent Claim
160 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of the workpiece (62), said non-planar beam of electro-magnetic radiation having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44,84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the workpiece (62) on said array (44, 84) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (46, 78) for controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient electro-magnetic radiation at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 44
Dependent Claim
160 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of the workpiece (62), said non-planar beam of electro-magnetic radiation having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44,84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the workpiece (62) on said array (44, 84) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (46, 78) for controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient electro-magnetic radiation at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 45
Dependent Claim
150 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece; and, E. utilization means (47, 64) responsive to said signals.
Claim 46
Dependent Claim
150 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece; and, E. utilization means (47, 64) responsive to said signals.
Claim 47
Dependent Claim
126 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 48
Dependent Claim
126 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 49
Dependent Claim
160 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 50
Dependent Claim
160 words
In a plural axis manipulator for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the plural axis manipulator; B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 51
Dependent Claim
167 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of electro-magnetic radiation having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (46, 78) for controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient electro-magnetic radiation at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 52
Dependent Claim
167 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of electro-magnetic radiation that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of electro-magnetic radiation having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of electro-magnetic radiation sensitive elements, said elements producing signals representative of the electro-magnetic radiation impinging thereon; C. means (56, 82) for imaging at least part of said electro-magnetic radiation beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of electro-magnetic radiation sensitive elements to produce corresponding signals representative of the image on said array; D. means (46, 78) for controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient electro-magnetic radiation at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 53
Dependent Claim
155 words
In a robot having a tool for use with a workpiece, an image acquisiton apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 54
Dependent Claim
155 words
In a robot having a tool for use with a workpiece, an image acquisiton apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals.
Claim 55
Dependent Claim
166 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam illuminated portion of the workpiece on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62)..
Claim 56
Dependent Claim
166 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a non-planar beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said non-planar beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam illuminated portion of the workpiece on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the extent of the illuminated portion (18) of the workpiece (62) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62)..
Claim 57
Dependent Claim
130 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 58
Dependent Claim
130 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals.
Claim 59
Dependent Claim
142 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60)of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18)of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 60
Dependent Claim
142 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60)of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18)of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; and, D. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 61
Dependent Claim
29 words
The apparatus of claim 35 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 62
Dependent Claim
163 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece; and, E. utilization means (47, 64) responsive to said signals.
Claim 63
Dependent Claim
163 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84) of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece; and, E. utilization means (47, 64) responsive to said signals.
Claim 64
Dependent Claim
179 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84 : of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 65
Dependent Claim
179 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. means (14, 74) for generating a conical beam (16) of light having an angular arc of selected angular width that illuminates at least a portion (18) of the workpiece (62), said conical beam (16) of light having a selected positional relationship with respect to the tool (60) of the robot (58); B. an array means (44, 84) of photosensitive elements, said elements producing signals representative of the light impinging thereon; C. means (56, 82) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44, 84 : of photosensitive elements to produce corresponding signals representative of the image on said array; D. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, E. utilization means (47, 64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 66
Dependent Claim
188 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. a reflective cylinder means (14) having a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool (60) of the robot (58); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece (62); C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 67
Dependent Claim
188 words
In a robot having a tool for use with a workpiece, an image acquisition apparatus comprising: A. a reflective cylinder means (14) having a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool (60) of the robot (58); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece (62); C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; and, E. utilization means (64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 68
Dependent Claim
29 words
The apparatus of claim 39 wherein at least a portion of the imaging path is coaxial with the axis of the conical beam (16) extended from the apex thereof.
Claim 69
Dependent Claim
214 words
In a robot having a tool for use with a workpiece an image acquisition apparatus comprising: A. a reflective cylinder means (14) having a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool (60) of the robot (58); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece (62); C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, F. utilization means (64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 70
Dependent Claim
214 words
In a robot having a tool for use with a workpiece an image acquisition apparatus comprising: A. a reflective cylinder means (14) having a longitudinal axis, said longitudinal axis having a selected positional relationship with respect to the tool (60) of the robot (58); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder means (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion of the workpiece (62); C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the workpiece (62) on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said workpiece (62); and, F. utilization means (64) responsive to said signals for controlling the position of the tool (60) with respect to the workpiece (62).
Claim 71
Independent Claim
165 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam of light (16) having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (64) responsive to said signals.
Claim 72
Independent Claim
165 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam of light (16) having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. controlling the angular width of the arc of said conical light beam (16) as a function of the ambient light noise at said object; and, F. utilization means (64) responsive to said signals.
Claim 73
Independent Claim
182 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50, 48) for controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder means (14) with the angular arc length being related to the beam sweep width; and, F. utilization means (64) responsive to said signals.
Claim 74
Independent Claim
182 words
An apparatus for image acquisition comprising: A. a reflective cylinder means (14); B. means (46, 54) for impinging a beam of collimated light on said reflective cylinder means (14) to produce a conical beam (16) of light having an angular arc that (i) is a function of the radius of the reflective cylinder (14) and the width of the collimated light beam impinging thereon and (ii) illuminates at least a portion (18) of an object; C. an array means (44) of photosensitive elements, said elements producing signals representative of the light impinging thereon; D. means (56) for imaging at least part of said light beam (16) illuminated portion (18) of the object on said array means (44) of photosensitive elements to produce corresponding signals representative of the image on said array; E. means (50, 48) for controlling the angular arc of said conical beam (16) of light by sweeping the collimated beam of light transversely across said reflective cylinder means (14) with the angular arc length being related to the beam sweep width; and, F. utilization means (64) responsive to said signals.
Claim 75
Dependent Claim
49 words
The apparatus of claim 43 further comprising a scanning galvanometer (46) and wherein said collimated beam is swept across said reflective cylinder means (14) by impinging the collimated beam on the reflective surface (48) of the scanning galvanometer (46) which directs the beam onto said reflective cylinder means (14).
Claim 76
Dependent Claim
33 words
The apparatus of claim 43 further comprising means (50) for varying the amplitude of an alternating current applied to the scanning galvanometer (46) thereby controlling the sweep width of said collimated light beam.
Claim 77
Dependent Claim
30 words
The apparatus of claim 43 further comprising means (50) for varying the direct current bias applied to said scanning galvanometer (46) thereby steering the angular arc of said conical beam.
References Cited (Backward Citations)
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