Seam tracking system with acousto-optical scanner

Claim 1

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directly a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, some of the deflecting steps comprising the steps of dividing the scanning width into increments of 1-100, noting the location of the seam at increment a along the scale of 1-100, and reducing the predetermined scanning width to a windowed scanning width beginning at x-a and ending at x+b, where a and b are less than 100.

Claim 2

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directly a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, some of the deflecting steps comprising the steps of dividing the scanning width into increments of 1-100, noting the location of the seam at increment a along the scale of 1-100, and reducing the predetermined scanning width to a windowed scanning width beginning at x-a and ending at x+b, where a and b are less than 100.

Claim 4

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, detecting the end of the seam, and ceasing the two moving and the deflecting steps.

Claim 5

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, detecting the end of the seam, and ceasing the two moving and the deflecting steps.

Claim 8

A method of following a random seam on a surface comprising the step of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the seam, the deflecting step being carried out at a rate of at least about 170 scans across the seam per second.

Claim 9

A method of following a random seam on a surface comprising the step of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the seam, the deflecting step being carried out at a rate of at least about 170 scans across the seam per second.

Claim 10

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the deflecting step being carried out at a rate in the range of about 170 to about 2100 scans across the seam per second.

Claim 11

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the deflecting step being carried out at a rate in the range of about 170 to about 2100 scans across the seam per second.

Claim 12

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally tranversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the first moving step being carried out at a speed at least about 3.3 inches per second.

Claim 13

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally tranversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the first moving step being carried out at a speed at least about 3.3 inches per second.

Claim 14

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the first moving step being carried out at a speed in the range of about 3.3 to about 10 inches per second.

Claim 15

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, and moving the laser and detector generally transversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, the first moving step being carried out at a speed in the range of about 3.3 to about 10 inches per second.

Claim 17

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, moving the laser and detector generally tranversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, and welding the opposite sides of the seam together as the laser and detector move along the length of the seam.

Claim 18

A method of following a random seam on a surface comprising the steps of rigidly coupling a laser and a scattered light detector together, moving the laser and detector generally longitudinally of the seam, while directing a beam from the laser generally towards the seam, repeatedly deflecting the beam generally transversely across the seam through a predetermined scanning width larger than the width of the seam via acoustical energy, detecting the light scattered from the surface and seam during each deflection of the beam across the seam via the scattered light detector and producing an output signal from the detector, repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of the scattered light detector and producing a location signal corresponding to the location of the seam during each deflection, moving the laser and detector generally tranversely of the seam in response to each location signal to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as the laser and detector move along the length of the seam, and welding the opposite sides of the seam together as the laser and detector move along the length of the seam.

Claim 20

An apparatus for following a random seam on a surface, the combination comprising: a laser; a scattered light detector; first means for rigidly coupling said laser and detector together; second means for directing a beam from said laser generally towards the seam; third means, coupled to said laser and detector, for moving said laser and detector generally longitudinally of, the seam; fourth means, coupled to said laser and comprising an acousto-optic deflector for repeatedly deflecting the beam from the laser generally transversely across the seam through a predetermined scanning width larger than the width of the seam; said second means including means for locating said detector relative to said laser, surface and seam to receive the light scattered from the surface and seam during each deflection of the beam across the seam, said detector producing an output signal representing such detected scattered light; fifth means, coupled to said laser and detector, for moving said laser and detector generally transversely of the seam; and control means, coupled to said fifth means and receiving said output signal, for (a) repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of said detector, (b) producing a location signal corresponding to the location of the seam within the predetermined scanning width during each deflection, and (c) actuating said fifth means in response to said location signal to move said laser and detector generally transversely of the seam to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as said laser and detector move along the length of the seam.

Claim 21

An apparatus for following a random seam on a surface, the combination comprising: a laser; a scattered light detector; first means for rigidly coupling said laser and detector together; second means for directing a beam from said laser generally towards the seam; third means, coupled to said laser and detector, for moving said laser and detector generally longitudinally of, the seam; fourth means, coupled to said laser and comprising an acousto-optic deflector for repeatedly deflecting the beam from the laser generally transversely across the seam through a predetermined scanning width larger than the width of the seam; said second means including means for locating said detector relative to said laser, surface and seam to receive the light scattered from the surface and seam during each deflection of the beam across the seam, said detector producing an output signal representing such detected scattered light; fifth means, coupled to said laser and detector, for moving said laser and detector generally transversely of the seam; and control means, coupled to said fifth means and receiving said output signal, for (a) repeatedly determining the location of the seam within the predetermined scanning width based on the output signal of said detector, (b) producing a location signal corresponding to the location of the seam within the predetermined scanning width during each deflection, and (c) actuating said fifth means in response to said location signal to move said laser and detector generally transversely of the seam to locate the seam at a predetermined position within the scanning width, to thereby follow the transverse deviation of the seam relative to the surface as said laser and detector move along the length of the seam.