Alignment and recognition apparatus

Apparatus for generating signals for use in aligning with respect to a known reference position an object disposed on an adjustable carrier in the field of view of a television camera, the television camera operable to generate an electrical video signal representative of a video image of a surface of the object and a peripheral area surrounding the object in a line raster frame scan comprising:

• digitizing means for receiving said video signals and forming therefrom digital video signals of first and second signal levels which for the video signals originating from the object have predominantly said first signal level and for the video signals originating from the peripheral area have said second signal level;
• analyzing means for (a) analyzing said digital video signals during a plurality of data window sets which are associated with each other in pairs and correspond to regions of the video image which are in a defined position relative to opposite edges of the video image of the object when the latter is aligned with the reference position, the data windows of each data window set corresponding to distinct video image regions having a predetermined distances from each other and different distances from the associated edge of the image of the object when the latter is aligned with respect to said reference position;
• (b) furnishing operating signals characterizing the number of data windows present in each set in uninterrupted sequence from the inside to the outside of the video image of the object in which there appear a predetermined minimum number of digital video signals of said first signal level;
• said operating signals providing a measure of displacement data for corresponding adjustment of said carrier to bring said object into alignment with respect to said reference position.

Apparatus for generating signals for use in aligning with respect to a known reference position a rectangular semiconductor bar in the field of view of a television camera on a carrier displaceable in two axial directions, the television camera operable to generate an electrical video signal representative of a video image of a surface of the semiconductor bar and a peripheral area surrounding the semiconductor bar in a line raster frame scan comprising;

• digitizing means for receiving said video signals and forming therefrom digital video signals of first and second signal levels which for the video signals originating from a surface of the semiconductor bar have predominantly said first signal level and for the video signals originating form the peripheral area have said second signal level;
• analyzing means for (a) analyzing said digital video signals during a plurality of data window sets which are associated with said axial directions in pairs and correspond to regions of the video image which define a rectangular area which is occupied by the video image of the semiconductor bar when the latter is aligned with respect to the reference position, the data windows of each data window set corresponding to distinct parallel video image regions having predetermined distances from each other in the associated direction of displacement of the carrier, and (b) furnishing operating signals for each data window set characterizing the number of data window present in that set in uninterrupted sequence from the inside to the outside of the video image of the object during which which appearance of said digitized video signals having said first level has occured, said operating signals defining the magnitude and direction of misalignment of said semiconductor bar use in adjusting said carrier to bring into alignment with respect to said reference position.

Apparatus for generating signals for use in aligning with respect to a known reference position a rectangular semiconductor bar in the field of view of a television camera on a carrier displaceable in two axial directions, the television camera operable to generate an electrical video signal representative of a video image of a surface of the semiconductor bar and a peripheral area surrounding the object in a line raster frame scan for generating electrical video signals which correspond to an image of the scanned area, comprising;

• digitizing means for receiving said video signals and forming therefrom digital video signals of first and second signal levels which for the video signals originating from a surface of the semiconductor bar have predominantly said first signal level and for the video signals originating from the peripheral area have said second signal level;
• analyzing means for (a) analyzing said digital video signals during a plurality of data window sets which are associated with said axial direction in pairs and correspond to regions of the video image which define an area corresponding to the dimensions of the video image of the semiconductor bar, which area is occupied by the video image of the semiconductor bar when the latter is aligned with respect to the reference position, the data windows of each data window set corresponding to distinct parallel video image regions having predetermined distances from each other in the associated direction of displacement of the carrier, and (b) furnishing output signals for each data window set characterizing the number of data windows present in that set in uninterrupted sequence from the inside to the outside of the video image of the semiconductor bar during which appearance of said digitized video signals having said first level has occurred;
• and means for adjusting the position of said carrier in accordance with said output signals to bring the semiconductor bar into alignment with respect to said reference position.

Apparatus for generating signals for use in aligning with respect to a known reference position a rectangular semiconductor bar in the field of view of a television camera on a carrier displaceable in predetermined increments in two axial directions, the television camera operable to generate an electrical video signal representative of a video image of a surface of the semiconductor bar and a peripheral area surrounding the object in a line raster frame scan comprising:

• digitizing means for receiving said video signals and forming therefrom digital video signals of first and second signal levels which for the video signals originating from a surface of the semiconductor bar have predominantly said first signals level and for the video signals originating from the peripheral area have said second signal level;
• analyzing means for (a) analyzing in a single frame scan said digital video signals during a plurality of data window sets which are associated with said axial directions in pairs and correspond to regions of the video image which define an area corresponding to the dimensions of the video image of the semiconductor bar, which area is occupied by the video image of the semiconductor bar when the latter is aligned with respect to the reference position, the data windows of each data window set corresponding to distinct parallel video image regions having predetermined distances from each other in the associated direction of displacement of the carrier, said predetermined distances bearing a predetermined relation to said predetermined increments, and (b) furnishing output signals for each data window set characterizing the number of data windows present in that set in uninterrupted sequence from the inside to the outside of the video image of the semiconductor bar during which appearance of said digitazed video signals having said first level has occurred, and means for utilizing said operating signals for adjusting the position of the carrier in said axial directions by a number of increments corresponding to the number of data windows in said uninterrupted sequence represented by the respective associated operating signals.

Apparatus for aligning with respect to a known reference position an object disposed in the field of view of television camera means on a carrier displaceable in two perpendicular axial directions, said television camera means operable to generate an electrical video signal representative of a video image of a surface of the object and a peripheral area surrounding the object in a line raster frame scan comprising:

• digitizing means for receiving said video signals and forming therefrom digital video signals of first and second signal levels which for video signals originating from scanned surface areas of the object have predominantly said first signal;
• level and for the video signals originating from the scanned peripheral area have said second signal level;
• applying means for (a) generating marker signals defining sets of data windows, said sets associated with said axial directions in pairs and which correspond to regions of said video image which define essentially rectangular confining dimensions of a said object to be aligned which are is occupied by the video image of the object when the latter is aligned with respect to the reference position, the data windows of each set corresponding to distinct parallel video image lines having predetermined distances from each other in the associated direction of displacement of the carrier;
• and (b) analyzing said digital video signals during each of said data windows;
• and
• electrical circuit means for detecting occurrence of digitized video signals having said one level during respective ones of said data windows for furnishing output signals for each data window set characterizing the number of data windows present in that set in uninterrupted sequence from the inside to the outside of said area and during which appearance of said digitized video signals having said first level has occurred, said output signals providing object misalignment data signals for controlling adjustment of said carrier to bring said object into alignment with respect to said reference position.

Apparatus for aligning with respect to a known reference position an object disposed on a carrier in the field of view of television camera means, said carrier adjustable in two orthoganal axial directions, said television camera means operable to generate an electrical video signal representative of a video image of a surface of said object and a peripheral area surrounding the object in a line raster frame scan at a predetermined line frequency together with frame and line synchronizing pulses comprising;

• sync separator means for receiving said video output signals to extract said frame synchronizing pulses and line synchronizing pulses;
• pulse generator means synchronized by said line synchronizing pulses for producing during scanning of each said television line a sequence of picture element pulses having a frequency large compared with said line frequency, during each said television line said picture element pulses having correspondingly defined time locations with respect to said line synchronizing pulses;
• digitizing means for receiving said video output signals and forming therefrom digital video signal levels which for video output signals originating from surface areas of said object having predominantly a first level and for video output signals originating from said peripheral area have a second level;
• sequencer means storing numerical values characterizing the locations and time durations of preselected data windows and operable under supervision of said frame synchronizing pulses to count said line synchronization pulses and said picture element pulses with respect to said stored numerical values for producing control signals during selected lines of said frame, said control signals having time locations and durations determined by said stored numerical values;
• generator circuit means operable under control of said control signals to generated marker signal sets defining sets of said data windows, data windows of a first pair of data window sets defined during identical portions of two spaced apart sets of said television lines and corresponding to one of said axial directions, and data windows of a second pair of data window sets defined during spaced apart sets of identical by spaced picture element pulse positions in each line of a predetermined group of television lines and corresponding to the other of said axial directions such that said data window sets define together of an area said television frame scan over which said video output signals correspond to a complete image of the surface of said object when aligned with respect to said reference position;
• analyzing means for analyzing said digital video signals during each of said marker signal periods and furnishing digital output signals for each said data window set characterizing the number of data windows present in that set in uninterrupted sequence from the inside to the outside of said frame scan area during which appearance of digitized video signals having said first level has occurred, said output signals providing digital measurement of magnitude and direction of misalignment of said object for use in adjusting said carrier to bring said object into alignment with respect to said reference position.

Apparatus for aligning with respect to a known reference position an object disposed on a carrier in the field of view of television camera means, said carrier adjustable in two orthoganal axial directions;

• said television camera means operable to generate an electrical video signal representative of a video image of a surface of said object and a peripheral area surrounding the object in a line raster frame scan at a predetermined line frequency together with frame and line synchronizing pulses;
• sync separator means for receiving said video output signals to extract said frame synchronizing pulses and line synchronizing pulses;
• pulse generator means synchronized by said line synchronizing pulses for producing during scanning of each said television line a sequence of picture element pulses having a frequency large compared with said line frequency during each said television line said picture element pulses having correspondingly defined time locations with respect to said line synchronizing pulses;
• digitizing means for receiving said video output signals and forming therefrom digital video signal levels which for video output signals originating from surface areas of said object have predominantly a first level and for video output signals originating from said peripheral area have a second level;
• sequencer means storing numerical values characterizing the locations and time durations of preselected data windows and operable under supervision of said frame synchronizing pulses to count said line synchronization pulses and said picture element pulses with repsect to said store numerical values for producing control signals during selected lines of said frame, said control signals having time locations and durations determined by said stored numerical values;
• generator circuit means operable under control of said control signals to generate marker signal sets defining sets of data windows, data windows of a first pair of data window sets defined during identical portions of upper and lower spaced apart sets of said television lines and corresponding to one of said axial directions, and data windows of a second pair of data window sets defined during first and second laterally spaced apart sets of identical spaced picture element pulse positions in each line of a predetermined group of television lines and corresponding to the other of said axial directions such that said data window sets define an enclosed rectangular area of a said television frame over which said video output signals correspond to a complete image of a said object when aligned with respect to said reference position;
• analyzing means for analyzing said digital video signals during the individual marker signal periods of each marker signal set in a predetermined sequence which for one marker signal set of each pair of data window sets is the reverse of the sequence for the other set of each pair such that said analysis proceeds from a marker signal of each set corresponding to an initial data window location adjacent said enclosed rectangular area, said analyzing means furnishing digital output signals for each said data window set characterizing the number of data windows present in that set in uninterrupted sequence from the initial data window during which appearance of a predetermined number of digital video signals of said first level has occurred for use to control adjustment of said carrier means to align said object with respect to said reference portion.

Apparatus for generating signals for use in positioning an adjustable carrier on which an object is disposed in the field of view of television camera means and for recognizing on a background surface of said object having one reflection characteristic the presence of an identification area having a different reflection characteristic;

• and carrier adjustable in two orthogonal axial directions;
• said television camera means operable to generate an electrical video signal representative of a video image of said surface of the object and a peripheral area surrounding the object in a line raster frame digitizing means operable:
• (a) in a first mode for receiving said video signals and forming therefrom first digital video signals which for the video signals corresponding to surface areas of said object have predominantly one signal level and for video signals corresponding to said peripheral area have a different signal level;
• and
• (b) in a second mode for receiving said video signals and forming therefrom second digital video signals which for video signals representative of said background surface area have predominantly one signal level and for video signals representative of said identification area have predominantly another signal level;
• and analyzing means;
• (1) for operation in conjunction with said first mode of operation of said digitizing means to (a) generate marker signals defining sets of data windows, said sets associated with said axial direction in pairs and which correspond to regions of said video image which are in defined positions relative to opposite edges of the video image of the object when the latter is aligned with respect to the reference position, the data windows of each set corresponding to parallel video image regions having predetermined distances from each other in the associated axial direction of displacement of the carrier;
• (b) analyzing each digital video signals during each of said data windows for detecting occurrence of digitized video signals having said one level during respective ones of said data windows and furnishing output signals for each data window set characterizing the number of data windows present in that set in uninterrupted sequence from the inside to the outside of said area and during which appearance of said digitized video signals having said first level has occurred, said output signals providing misalignment data for adjustment of said carrier to bring said object into alignment with respect to said reference position;
• (2) for operation in conjunction with said second mode of operation of said digitizing means (a) to analyze said second digital video signals at a predetermined number of instants during a predetermined number of scanned lines and for generating in each analysis a pulse when said analyzed video signal has said one signal level;
• and (b) to count the generated pulses and furnish a signal whenever the count exceeds a predetermined value in the course of a complete frame scan indicating the presence of a said identification area.