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Abstract

An adaptive tracking vision and guidance system for use with robot systems includes a structured light vision system and an expert system based look ahead feature tracker. The adaptive tracking vision system may be used to track a feature on which the robot is to operate and to supply guidance information in real time to the robot or to an adaptive stage on the robot arm train. The vision system may be a structured light system capable of scanning a relatively large window, and a control computer. The feature tracker includes an expert system software package and interface packages for the robot controller, host computer, vision camera and operator console. The vision system does an initial search to locate a feature based on a priori knowledge of characteristics of the feature. Then the system tracks the feature by scanning ahead, adaptively planning future scans, predicting the feature path and choosing the data to be used to reduce processing time. The system can supply guidance information to an adaptive stage controlling an end effector tool so that the robot can perform the desired operation precisely on the feature. If the feature is lost while scanning ahead, the vision system does a recovery search to relocate the feature, including switching to alternative mapping systems if necessary. If the feature cannot be recovered a signal is given to the operator.

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