Smart camera

A method for controlling a first and a second actuator, comprising:

• storing a first and a second program of instructions on a host computer;
• linking the host computer to a first control module and a smart camera module;
• coupling the first control module to the first actuator and the smart camera module to the second actuator;
• retrieving the first program of instructions from the host computer and loading it into the first control module;
• retrieving the second program of instructions from the host computer and loading it into the smart camera module;
• obtaining images with the smart camera module;
• processing the images in accordance with the second program of instructions at the second camera module′
• controlling the first actuator with the first control module;
• and
• controlling the second actuator with the smart camera module based upon said images and said second program.

A method for distributed machine control, comprising:

• storing a first and a second program of instructions on a host computer;
• linking the host computer to a first control module;
• linking the first control module to a smart camera module;
• coupling the first control module to a first actuator and the smart camera module to a second actuator;
• retrieving the first program of instructions from the host computer and loading it into the first control module;
• retrieving the second program of instructions from the host computer and loading it into the smart camera module;
• obtaining images with the smart camera module;
• controlling the first actuator with the first control module;
• and
• controlling the second actuator with the smart camera module based upon said images and said second program.

A method for distributed machine control, comprising:

• controlling a first actuator with a first control module, said first module including a first processor carrying out a program of instructions and generating a first set of signals for controlling said first actuator;
• controlling a second actuator with a smart camera module, said smart camera module including a second processor carrying out a program of instructions and generating a second set of signals for controlling said second actuator;
• linking said first set of signals through a first error current block disposed in said first module to said first actuator, said first error current block receiving and transmitting an error current loop signal and interrupting said first set of signals if said error current loop signal is interrupted;
• linking said second set of signals through a second error current block disposed in said smart camera module to said second actuator, said second error current block receiving and transmitting said error current loop signal and interrupting said second set of signals if said error current loop signal is interrupted;
• detecting an error condition;
• and
• interrupting said error current loop signal upon detection of said error condition.

A smart camera module for controlling an actuator, said smart camera module comprising:

• an image sensor for acquiring image data;
• a communications/processor unit including
• a component specifying a unique identification for the communications/processor module;
• a processor;
• a non-volatile memory providing a bootstrap load program of instructions for the processor;
• and
• a volatile program memory for storing a program of instructions for controlling the processor to process the image data;
• and
• a function unit for driving the actuator, said communications/processor unit electrically coupled to said function unit.

An apparatus for controlling an actuator, comprising:

• a host computer;
• means for storing a program of instructions on the host computer;
• means for linking the host computer to a smart camera module, the smart camera module including means for acquiring image data;
• means for coupling the smart camera module to the actuator;
• means for retrieving the program of instructions from the host computer and loading it into the smart camera module, the program of instructions including instructions for processing the image data;
• and
• means for controlling the actuator with the smart camera module.

An apparatus for controlling a first and a second actuator, comprising:

• a host computer;
• means for storing a first and a second program of instructions on the host computer;
• means for linking the host computer to a first control module and a smart camera module, the smart camera module including means for acquiring image data;
• means for coupling the first control module to the first actuator and the smart camera module to the second actuator;
• means for retrieving the first program of instructions from the host computer and loading it into the first control module;
• means for retrieving the second program of instructions from the host computer and loading it into the smart camera module, the second program including instructions for processing the image data;
• means for controlling the first actuator with the first control module;
• and
• means for controlling the second actuator with the smart camera module.

An apparatus for distributed machine control, comprising:

• a host computer;
• means for storing a first and a second program of instructions on the host computer;
• means for linking the host computer to a first control module;
• means for linking the first control module to a smart camera module, the smart camera module including means for acquiring image data;
• means for coupling the first control module to a first actuator and the smart camera module to a second actuator;
• means for retrieving the first program of instructions from the host computer and loading it into the first control module;
• means for retrieving. the second program of instructions from the host computer and loading it into the smart camera module, the second program including instructions for processing the image data;
• means for controlling the first actuator with the first control module;
• and
• means for controlling the second actuator with the smart camera module.

An apparatus for distributed machine control, comprising:

• means for controlling a first actuator with a first control module, said first module including a first processor carrying out a first program of instructions and generating a first set of signals for controlling said first actuator;
• means for controlling a second actuator with a smart camera module, said smart camera module including means for acquiring image data and a second processor carrying out a second program of instructions and generating a second set of signals for controlling said second actuator, said second program including instructions for processing the image data;
• means for linking said first set of signals through a first error current block disposed in said first module to said first actuator, said first error current block receiving and transmitting an error current loop signal and interrupting said first set of signals if said error current loop signal is interrupted;
• means for linking said second set of signals through a second error current block disposed in said smart camera module to said second actuator, said second error current block receiving and transmitting said error current loop signal and interrupting said second set of signals if said error current loop signal is interrupted;
• means for detecting an error condition;
• and
• means for interrupting said error current loop signal upon detection of said error condition.

A method for controlling an actuator, comprising:

• storing a program of instructions on a host computer;
• linking the host computer to a smart camera module;
• coupling the smart camera module to the actuator;
• retrieving the program of instructions from the host computer and loading it into the smart camera module;
• acquiring image data with the smart camera module;
• processing the image data with the smart camera module;
• controlling the actuator with the smart camera module;
• sending state information reflecting a state of the smart camera module from the smart camera module to the host computer repeatedly at fixed time intervals;
• and
• storing the state information in memory of the host computer between said fixed time intervals.

An apparatus for controlling an actuator, comprising:

• a host computer;
• means for storing a program of instructions on the host computer;
• a smart camera including an image sensor for acquiring image data;
• means for linking the host computer to said smart camera module;
• means for coupling said smart camera module to the actuator;
• means for retrieving the program of instructions from the host computer and loading it into said smart camera module, the program including instructions for processing the image data;
• means for controlling the actuator with said smart camera module;
• means for sending state information reflecting a state of said smart camera module from said smart camera module to the host computer repeatedly at fixed time intervals;
• and
• means for storing the state information in memory of the host computer between said fixed time intervals.

A method for coordinating and synchronizing data flow between a smart camera module and a host computer, said method comprising:

• linking the smart camera module to the host computer via a high-speed serial data bus, the high-speed serial data bus utilizing an isochronous transfer mode having a fixed time interval between transfers;
• obtaining a program of instructions from the host computer and loading it into the smart camera module, the program including image processing instructions for processing image data;
• acquiring image data with the smart camera module;
• processing image data in accordance with the image processing instructions;
• and
• transferring a current status variable data block from said smart camera module to the host computer and transferring a desired status variable data block from the host computer to said smart camera module during each said time interval via said high-speed serial data bus.

A method for controlling an actuator in a machine having at least one smart camera module for providing control signals to the actuator and a host computer for controlling the smart camera module, said method comprising:

• linking the host computer to the smart camera module via a high-speed data bus;
• coupling the smart camera module to the actuator;
• acquiring image data with the smart camera data;
• processing the image data with the smart camera module in accordance with instructions received from the host computer;
• maintaining and updating a first set of data at the smart camera module;
• transmitting said first set of data to the host computer periodically at fixed intervals of time without polling;
• maintaining and updating a second set of data at the host computer;
• and
• transmitting said second set of data to the smart camera module periodically at fixed intervals of time without polling.

An apparatus for controlling an actuator in a machine having at least one smart camera module for providing control signals to the actuator and a host computer for controlling the smart camera module, said apparatus comprising:

• means for linking the host computer to the smart camera module via a high-speed data bus;
• means for coupling the smart camera module to the actuator;
• acquiring image data with the smart camera data;
• processing the image data with the smart camera module in accordance with instructions received from the host computer;
• means for maintaining and updating a first set of data at the smart camera module;
• means for transmitting said first set of data to the host computer periodically at fixed intervals of time without polling;
• means for maintaining and updating a second set of data at the host computer;
• and
• means for transmitting said second set of data to the smart camera module periodically at fixed intervals of time without polling.

A method for viewing and responding to a condition viewed by an image sensor of a smart camera module, the smart camera module coupled to a host computer, said method comprising:

• linking the host computer to the smart camera module via a high-speed data bus;
• viewing a condition with the image sensor to acquire image data;
• processing the image data with a processor disposed in the smart camera module, the processor performing a set of instructions received from the host computer;
• determining the condition with the smart camera module;
• maintaining and updating a first set of data dependent upon the condition at the smart camera module;
• and
• transmitting said first set of data to the host computer periodically at fixed intervals of time without polling.

An apparatus for sensing and responding to a condition sensed by an image sensor of a smart camera module, the smart camera module coupled to a host computer, said apparatus comprising:

• means for linking the host computer to the smart camera module via a high-speed data bus;
• means for viewing a condition with the image sensor to acquire image data;
• means for processing the image data with a processor disposed in the smart camera module, the processor performing a set of instructions received from the host computer;
• means for determining the condition with the smart camera module;
• means for maintaining and updating a first set of data dependent upon the condition at the smart camera module;
• and
• means for transmitting said first set of data to the host computer periodically at fixed intervals of time without polling.

A system for synchronizing an event to a captured image, comprising:

• a smart camera module including an image sensor for capturing image data;
• a processor disposed in the smart camera module for processing the image data captured by said image sensor;
• and
• an input line for receiving an external input and providing it directly to said processor, the input line carrying a digital signal indicative of the occurrence of the event.

A system for synchronizing an event to a captured image, comprising:

• a smart camera module including an image sensor for capturing image data;
• a processor disposed in the smart camera module for processing the image data captured by said image sensor;
• and
• an output line for transmitting a signal directly from the processor to an external device, the output line carrying a digital signal indicative of the occurrence of the event.