An imaging apparatus includes a structural support rigidly coupled to a surface of a mobile robot and a plurality of perception modules, each of which is arranged on the structural support, has a different field of view, and includes a two-dimensional (2D) camera configured to capture a color image of an environment, a depth sensor configured to capture depth information of one or more objects in the environment, and at least one light source configured to provide illumination to the environment. The imaging apparatus further includes control circuitry configured to control a timing of operation of the 2D camera, the depth sensor, and the at least one light source included in each of the plurality of perception modules, and at least one computer processor configured to process the color image and the depth information to identify at least one characteristic of one or more objects in the environment.

Systems and methods for detecting defects on a specimen based on structural information are provided. One system includes one or more computer subsystems configured for separating the output generated by a detector of an inspection subsystem in an array area on a specimen into at least first and second segments of the output based on characteristic(s) of structure(s) in the array area such that the output in different segments has been generated in different locations in the array area in which the structure(s) having different values of the characteristic(s) are formed. The computer subsystem(s) are also configured for detecting defects on the specimen by applying one or more defect detection methods to the output based on whether the output is in the first segment or the second segment.

An automated technique for finishing gas turbine engine blades or vanes by generating a bespoke tooling path for each blade or vane. The bespoke tooling path is generated by scanning the aerofoil surface to generate a 3-D electronic representation of the surface. The 3-D electronic surface is then analyzed to identify imperfections or defects, and then a machining path a generated through which the imperfections can be removed. The machining path is determined so as to smoothly blend the surface back to the underlying surface where the imperfections had been present. In this way, the resulting aerofoil, once machined, has optimized aerodynamic performance.

A surface evaluation system that includes one or more vision systems that generate target surface data during evaluation of a surface, the one or more vision systems comprising two or more of: at least one light, a camera, a structured light camera, a laser scanner and a 3D scanner.

A method, system, and computer program product for optical inspection of objects. The method projects an optical test line on a device under test. A frame is captured of the optical test line projected onto the device under test. The method provides a reference line for the device under test and compares the reference line and the optical test line within the frame. The method generates a visual quality determination based on the comparison of the reference line and the optical test line.

A system for calibration of a robot includes an imaging system (136) including two or more cameras (132). A registration device (120) is configured to align positions of a light spot (140) on a reference platform as detected by the two or more cameras with robot positions corresponding with the light spot positions to register an imaging system coordinate system (156) with a robot coordinate system (150).

A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

In one aspect, the present invention relates to a mobile plant for orienting a tool with respect to a hole, the plant comprising: an arm assembly for supporting a tool, the tool being adapted to be lowered into the hole; a primary sensor for sensing the geographical location of the tool; and a secondary sensor for sensing the location and/or orientation of the hole; wherein the plant is adapted to adjust the position of the tool supported by the arm assembly based on the geographical location sensed by the primary sensor and the location and/or orientation sensed by the secondary sensor, to thereby align the tool supported by the arm assembly with the hole. In other aspects the present invention relates to a plant, to methods of using the plant, and to a boom arm assembly.

A machine tool operation monitoring system which detects an abnormal operation of a machine tool 1 and in which when the operation of each machine tool 1 exceeds a normal operating range of each machine tool 1 and/or when a moving state of a constituent portion of the machine tool 1 and a material exceeds a normal range, wherein the machine tool 1 breaking out an operation abnormality is identified by any one of the following operations:

a. monitoring an image obtained by projecting reflected light from a reflecting display plate 22 provided for each machine tool 1 onto a camera 31; and
b. monitoring a difference in projecting direction of emitted light from a lamp 21 provided for each machine tool 1 onto an optical sensor 32.

A machine tool operation monitoring system which detects an abnormal operation of a machine tool 1 and in which when the operation of each machine tool 1 exceeds a normal operating range of each machine tool 1 and/or when a moving state of a constituent portion of the machine tool 1 and a material exceeds a normal range, wherein the machine tool 1 breaking out an operation abnormality is identified by any one of the following operations: a. monitoring an image obtained by projecting reflected light from a reflecting display plate 22 provided for each machine tool 1 onto a camera 31; and b. monitoring a difference in projecting direction of emitted light from a lamp 21 provided for each machine tool 1 onto an optical sensor 32.