公开(公告)号：US4593173A

公开(公告)日：1986-06-03

申请号：US547599

申请日：1983-11-01

申请人： Jonathan S. E. Bromley ,  William F. Clocksin ,  Peter G. Davey ,  Colin G. Morgan ,  Albert R. Vidler

发明人： Jonathan S. E. Bromley ,  William F. Clocksin ,  Peter G. Davey ,  Colin G. Morgan ,  Albert R. Vidler

IPC分类号： B23K9/095 ,  B23Q35/128 ,  B25J19/00 ,  B25J19/02 ,  B23K9/12

CPC分类号： B23K9/0956 ,  B23Q35/128 ,  B25J19/0054 ,  B25J19/021 ,  G05B2219/45104 ,  G05B2219/4701

摘要： Apparatus to control the automatic placing of material along a junction between surfaces with reference to the form and position of the junction including means controllably movable to deposit material progressively along the junction in response to a control signal, means linked to the movement of the means to deposit material to produce an image of the surfaces and junction, filter means to remove from the image information resulting from illumination at other than a specific wavelength with a tapped delay line to provide a specific impulse response, means to extract from the image that portion unambiguously defining the junction form and position, means responsive to said image portion to derive said control signal to control the means to deposit material to move in a required manner along said junction to deposit material.

摘要翻译： 用于控制材料沿着表面之间的接合部处的自动放置的装置，所述设备的形式和位置包括可控制地移动的装置，以响应于控制信号逐渐沿着接合部沉积材料，所述装置与装置的移动相关联 沉积材料以产生表面和结的图像，滤波器装置从具有抽头延迟线的特定波长以外的照明产生的图像信息中除去以提供特定的脉冲响应，从图像中提取明确的脉冲响应的装置 限定接合形式和位置的装置，响应于所述图像部分导出所述控制信号以控制装置以沿所述连接点以所需方式移动以沉积材料的装置。

公开(公告)号：US4616121A

公开(公告)日：1986-10-07

申请号：US751467

申请日：1985-07-03

申请人： William F. Clocksin ,  Peter G. Davey ,  Colin G. Morgan ,  Albert R. Vidler

发明人： William F. Clocksin ,  Peter G. Davey ,  Colin G. Morgan ,  Albert R. Vidler

IPC分类号： B23K9/095 ,  B23Q35/128 ,  B25J19/00 ,  B25J19/02 ,  B23K9/12

CPC分类号： B25J19/021 ,  B23K9/0956 ,  B23Q35/128 ,  B25J19/0054 ,  G05B2219/45104 ,  G05B2219/4701

摘要： Apparatus to control the automatic placing of material along a junction between surfaces with reference to the form and position of the junction including a tool controllably movable to deposit material progressively along the junction in response to a control signal, an imager linked to the movement of the tool to produce an image of the surfaces and junction, a system to extract from the image that portion unambiguously defining the junction form and position, an arrangement responsive to this image portion to derive the control signal to control the tool to move in a required manner along the junction to deposit material.

摘要翻译： 用于控制材料沿着表面之间的接合处的自动放置的装置，所述装置涉及所述接合部的形式和位置，所述接合部的形式和位置包括可控制地移动的工具，以响应于控制信号沿着所述接合部逐渐沉积材料;成像器， 用于产生表面和结的图像的工具，从图像中提取明确界定结形式和位置的部分的系统，响应于该图像部分导出控制信号以控制工具以所需方式移动的布置 沿交界处存放物料。

公开(公告)号：US5579444A

公开(公告)日：1996-11-26

申请号：US384397

申请日：1995-02-03

申请人： Marie R. Dalziel ,  Neil E. Wiseman ,  Martin A. Oliver ,  Andrew K. Forrest ,  William F. Clocksin ,  Tony R. King ,  Robert A. Wipfel ,  Ian Warren ,  David J. Phillips ,  Ping D. Chuang

发明人： Marie R. Dalziel ,  Neil E. Wiseman ,  Martin A. Oliver ,  Andrew K. Forrest ,  William F. Clocksin ,  Tony R. King ,  Robert A. Wipfel ,  Ian Warren ,  David J. Phillips ,  Ping D. Chuang

IPC分类号： B25J9/16 ,  B25J9/18

CPC分类号： B25J9/1697 ,  B25J9/1669

摘要： An adaptive vision based controller for controlling a robot arm comprises a camera, a segmenter for analyzing images from the camera, a tracker, sketcher and ranger responsive to information from the segmenter for creating a three dimensional segmented data list, a recognizer for receiving the data list and comparing data in the list against a database of plausible objects, and a planner interactive with the recognizer and responsive to task definitions for developing control outputs. The recognizer uses scenic information such as feature maps produced by the segmenter in conjunction with a knowledge base to construct a world model. The planner uses the world model and the task definitions to construct a plan in the form of a set of actions for accomplishing the defined task. By way of the control system, information about how the robot arm is actually performing a task can be compared with the desired task and the task can be updated if necessary. Thus the controller provides visual feed back control of the task performed by the robot arm.

摘要翻译： 用于控制机器人臂的基于自适应视觉的控制器包括相机，用于分析来自相机的图像的分割器，响应于来自分割器的信息的跟踪器，草图器和游for器，用于创建三维分割数据列表，用于接收数据的识别器 列出和比较列表中的数据与可信对象的数据库，以及与识别器交互的计划器，并响应于开发控制输出的任务定义。 识别器使用风景信息，如分割器生成的特征图与知识库一起构建世界模型。 计划员使用世界模型和任务定义以一组用于完成定义任务的动作的形式构建计划。 通过控制系统，可以将关于机器人手臂实际执行任务的信息与期望的任务进行比较，并且如果需要可以更新任务。 因此，控制器提供由机器人臂执行的任务的视觉反馈控制。