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1. 发明申请

WO2013081882A1 HIGH SPEED, HIGH RESOLUTION, THREE DIMENSIONAL PRINTED CIRCUIT BOARD INSPECTION SYSTEM 审中-公开
标题翻译：高速，高分辨率，三维印刷电路板检测系统
公开(公告)号：WO2013081882A1
公开(公告)日：2013-06-06
申请号：PCT/US2012/065838
申请日：2012-11-19
申请人： CYBEROPTICS CORPORATION , CARUSO, Beverly
发明人： SKUNES, Timothy, A. , HAUGAN, Carl, E. , HAUGEN, Paul, R. , RUDD, Eric, P.
IPC分类号： H05K13/08 , G01N21/956 , H04N13/00
CPC分类号： G01P3/40 , G01N21/8806 , G01N21/956 , H04N7/188 , H04N13/243 , H04N2013/0081
摘要： An optical inspection system (92) includes a printed circuit board (PCB) transport (26) and an illuminator (65) that provides at least a first strobed illumination field. The illuminator includes a light pipe (64) having a first end (68) proximate the PCB (12), and a second end (69) opposite the first end (68) and spaced from the first end (68). An array (4) of cameras (2A - 2H) is configured to digitally image the PCB (12) and to generate a plurality of images of the PCB (12) with the at least first strobed illumination field type. At least one structured light projector (8) is disposed to project structured illumination on the PCB (12). The at least one array of cameras (6,7) is configured to digitally image the PCB (12) while the PCB (12) is illuminated with structured light, to provide a plurality of structured light images. A processing device (80) is configured to generate an inspection result as a function of the plurality of images and the plurality of structured light images.
摘要翻译：光学检查系统（92）包括提供至少第一选通照明场的印刷电路板（PCB）传输（26）和照明器（65）。照明器包括具有靠近PCB（12）的第一端（68）的光管（64）和与第一端（68）相对并且与第一端（68）间隔开的第二端（69）。相机（2A-2H）的阵列（4）被配置为对所述PCB（12）进行数字成像，并且利用所述至少第一选通照明场类型生成所述PCB（12）的多个图像。设置至少一个结构化的光投影仪（8）以将结构化照明投影在PCB（12）上。所述至少一个相机阵列（6,7）被配置为在PCB（12）被结构化光照射的同时对PCB（12）进行数字成像，以提供多个结构化的光图像。处理装置（80）被配置为产生作为多个图像和多个结构光图像的函数的检查结果。

2. 发明申请

WO2011056976A1 HIGH SPEED OPTICAL INSPECTION SYSTEM WITH ADAPTIVE FOCUSING 审中-公开
标题翻译：具有自适应聚焦的高速光学检测系统
公开(公告)号：WO2011056976A1
公开(公告)日：2011-05-12
申请号：PCT/US2010/055452
申请日：2010-11-04
申请人： CYBEROPTICS CORPORATION , HAUGAN, Carl, E. , SKUNES, Timothy, A. , RUDD, Eric, P. , CARUSO, Beverly
发明人： HAUGAN, Carl, E. , SKUNES, Timothy, A. , RUDD, Eric, P.
IPC分类号： G01N21/956
CPC分类号： H05K13/08 , G01N21/8806 , G01N21/8903 , G01N21/956 , G01N2021/8812 , G01N2021/8816 , G01N2021/8822 , G01N2021/8924 , G01N2021/95638 , G01N2201/0635 , G01R31/304
摘要： An optical inspection system (41, 42, 43, 44, 45) for inspecting a substrate (10) is provided. The system (41, 42, 43, 44, 45) includes an array (4) of cameras (2A-2H) configured to acquire a plurality of sets of images as the substrate (10) and the array (4) undergo relative motion with respect to each other. At least one focus actuator (9A-9H) is operably coupled to each camera (2A-2H) of the array (4) of cameras (2A-2H) to cause displacement of at least a portion of each camera (2A-2H) that affects focus. A substrate range calculator (16) is configured to receive at least portions of images from the array (4) and to calculate range between the array (4) of cameras (2A-2H) and the substrate (10). A controller (80) is coupled to the array (4) of cameras (2A-2H) and to the range calculator (16). The controller (80) is configured to provide a control signal to each of the at least one focus actuator (9A-9H) to adaptively focus each camera (2A-2H) of the array (4) during the relative motion.
摘要翻译：提供了一种用于检查基板（10）的光学检查系统（41,42,43,44,45）。系统（41,42,43,44,45）包括被配置为获取多组图像作为基板（10）并且阵列（4）经历相对运动的相机（2A-2H）阵列（4）相对于彼此。至少一个聚焦致动器（9A-9H）可操作地耦合到相机（2A-2H）的阵列（4）的每个相机（2A-2H），以引起每个相机（2A-2H）的至少一部分的位移，影响重点。衬底范围计算器（16）被配置为接收来自阵列（4）的图像的至少一部分，并且计算摄像机（2A-2H）的阵列（4）和衬底（10）之间的距离。控制器（80）耦合到相机（2A-2H）的阵列（4）和范围计算器（16）。控制器（80）被配置为向至少一个聚焦致动器（9A-9H）中的每一个提供控制信号，以在相对运动期间自适应地聚焦阵列（4）的每个相机（2A-2H）。

3. 发明申请

WO2014113517A9 MULTI-CAMERA SENSOR FOR THREE-DIMENSIONAL IMAGING OF A CIRCUIT BOARD 审中-公开
公开(公告)号：WO2014113517A9
公开(公告)日：2014-07-24
申请号：PCT/US2014/011762
申请日：2014-01-16
申请人： CYBEROPTICS CORPORATION
发明人： HAUGEN, Paul, R. , RUDD, Eric, P.
IPC分类号： G01B11/24 , H05K13/08
摘要： A system (40, 50, 60, 70, 80, 90) for sensing a three-dimensional topology of a circuit board (18) is provided. An illumination source (54, 62) projects an illumination pattern from a first angle of incidence. A first camera (42a, 52a, 92a) acquires an image of the structured light pattern on the circuit board (18) from a second angle of incidence. A second camera (42b, 52b, 92b) simultaneously acquires an image of the structured light pattern on the circuit board (18) from a third angle of incidence, the third angle of incidence differing from the second angle of incidence. A controller (66) is coupled to the illumination source (54, 62) and to the at least two camera devices (42a, 52a, 92a; 42b, 52b, 92b). The controller (66) generates a height topology of the circuit board (18) based on images acquired from the at least two camera devices (42a, 52a, 92a; 42b, 52b, 92b) of the structure light illuminator (54, 62).

4. 发明申请

WO2008153885A1 COMPONENT SENSOR FOR PICK AND PLACE MACHINE USING IMPROVED SHADOW IMAGING 审中-公开
标题翻译：使用改进的阴影成像的拾取和放置机器的组件传感器
公开(公告)号：WO2008153885A1
公开(公告)日：2008-12-18
申请号：PCT/US2008/007043
申请日：2008-06-05
申请人： CYBEROPTICS CORPORATION , RUDD, Eric, P. , KONICEK, John, P. , GAIDA, John, D.
发明人： RUDD, Eric, P. , KONICEK, John, P. , GAIDA, John, D.
IPC分类号： H05K13/04
CPC分类号： H05K13/08
摘要： A method (100) of sensing a component (30) held by a nozzle (24) of a pick and place machine is provided. The method (100) includes engaging (102) a source of illumination (60) and recording (104) a reference background image when no component is held by the nozzle (24). Then, a component (30) is adhered (108) to the nozzle (24). A shadow image of the component is detected (110) while the component (30) is held by the nozzle (24). The detected shadow image of the component (30) is adjusted (112) based upon the recorded reference background image. Positional information relative to the component held on the nozzle is computed (118) using the adjusted shadow image. The component (30) is then mounted upon a workpiece using the positional information.
摘要翻译：提供一种感测由拾放机的喷嘴（24）保持的部件（30）的方法（100）。方法（100）包括当没有部件被喷嘴（24）保持时，接合（102）照明源（60）并记录（104）参考背景图像。然后，将部件（30）粘附（108）到喷嘴（24）。当部件（30）被喷嘴（24）保持时，检测到部件的阴影图像（110）。基于所记录的参考背景图像来调整（112）所检测到的分量（30）的阴影图像。使用调整后的阴影图像来计算相对于保持在喷嘴上的部件的位置信息（118）。然后使用位置信息将部件（30）安装在工件上。

5. 发明申请

WO2016106196A1 UPDATING CALIBRATION OF A THREE-DIMENSIONAL MEASUREMENT SYSTEM 审中-公开
标题翻译：更新三维测量系统的校准
公开(公告)号：WO2016106196A1
公开(公告)日：2016-06-30
申请号：PCT/US2015/067051
申请日：2015-12-21
申请人： CYBEROPTICS CORPORATION
发明人： ZHOU, Guangyu , RUDD, Eric, P. , HAUGAN, Carl, E.
IPC分类号： H04N13/02 , H04N13/00 , H04N5/74
CPC分类号： E04H17/04 , B29C65/103 , B29C65/1412 , B29C65/1425 , B29C65/4815 , B29C65/483 , B29C65/522 , B29C65/62 , B29C66/1122 , B29C66/304 , B29C66/431 , B29C66/472 , B29C66/71 , B29C66/712 , B29C66/723 , B29C66/729 , B29C66/742 , B29C66/81465 , B29C66/83411 , B29C66/919 , B29C66/92451 , B29C66/9441 , B29C66/949 , B29C66/9534 , B29C2035/046 , B29C2035/0822 , B29C2035/0855 , B29L2028/00 , B29L2031/73 , E04H17/163 , G01B11/2504 , G01B11/2545 , G01B21/042 , H04N9/3185 , H04N9/3194 , H04N9/67 , B29K2027/06
摘要： A method of calibrating a three-dimensional measurement system having a plurality of cameras and at least one projector is provided. The method includes performing a full calibration (100) for each camera (118, 120, 122, 124) /projector (128) pair where the full calibration generates at least two sets of correction matrices. Subsequently, an updated calibration (200) is performed for each camera(118, 120, 122, 124)/projector (128) pair. The updated calibration (200) changes less than all of the sets of correction matrices.
摘要翻译：提供了一种校准具有多个相机和至少一个投影仪的三维测量系统的方法。该方法包括对于每个相机（118,120,122,124）/投影仪（128）对进行完全校准（100），其中全校准生成至少两组校正矩阵。随后，对每个相机（118,120,122,124）/投影仪（128）对执行更新的校准（200）。更新的校准（200）改变小于所有校正矩阵集合。

6. 发明申请

WO2007053557A1 ELECTRONICS ASSEMBLY MACHINE WITH EMBEDDED SOLDER PASTE INSPECTION 审中-公开
标题翻译：电子组装机具有嵌入式焊膏检测
公开(公告)号：WO2007053557A1
公开(公告)日：2007-05-10
申请号：PCT/US2006/042337
申请日：2006-10-31
申请人： CYBEROPTICS CORPORATION , DUQUETTE, David, W. , MANICKAM, Swaminathan , KONICEK, John, P. , CASE, Steven, K. , RUDD, Eric, P.
发明人： DUQUETTE, David, W. , MANICKAM, Swaminathan , KONICEK, John, P. , CASE, Steven, K. , RUDD, Eric, P.
IPC分类号： H05K13/04
CPC分类号： H05K13/0413 , B23K3/087 , B23K2201/42 , H05K1/0269 , H05K3/3484 , Y10T29/49131 , Y10T29/53087 , Y10T29/53091 , Y10T29/53178 , Y10T29/532
摘要： A pick and place machine (10, 201) includes a placement head (206) configured to releasably grasp a component (304) for placement. A robotic system is coupled to the placement head (206) to generate relative movement between the placement head (206) and a workpiece (203). An image acquisition system (350) is configured to acquire at least one image of an intended placement (352) location of the component (304) before the component (304) is placed. A controller (298) is operably coupled to the image acquisition system (350), the controller (298) is configured to process at least one before-placement image to generate a metric relative to solder (354, 356) deposited at the intended placement location (352).
摘要翻译：拾取和放置机器（10,201）包括配置为可释放地抓住用于放置的部件（304）的放置头（206）。机器人系统耦合到放置头（206）以在放置头（206）和工件（203）之间产生相对运动。图像采集系统（350）被配置为在放置组件（304）之前获取组件（304）的预期放置位置（352）的至少一个图像。控制器（298）可操作地耦合到图像采集系统（350），控制器（298）被配置为处理至少一个放置前图像以产生相对于在预期放置处沉积的焊料（354,356）的度量位置（352）。

7. 发明申请

WO2002085091A3 CAMERA WITH IMPROVED ILLUMINATOR 审中-公开
公开(公告)号：WO2002085091A3
公开(公告)日：2002-10-24
申请号：PCT/US2001/051609
申请日：2001-12-14
申请人： CYBEROPTICS CORPORATION
发明人： MADSEN, David, D. , RUDD, Eric, P. , SCHOENECK, Mark, R.
IPC分类号： H02B5/00
摘要： An illumination and imaging system (209) is provided with a co-axial illuminator (236) that does not include a beamsplitter. The co-axial illuminator (236) achieves efficiencies substantially in excess of those achieved with a beamsplitter. In one aspect, an optical stop (246) is used to reflect illumination upon a target. The optical stop (246) includes an aperture (248) allowing light reflected from the target to pass to a detector (230). The aperture (248) of the stop (246) has an asymmetrical feature that facilitates operation on specular targets.

8. 发明申请

WO2016040634A1 POINT CLOUD MERGING FROM MULTIPLE CAMERAS AND SOURCES IN THREE-DIMENSIONAL PROFILOMETRY 审中-公开
标题翻译：来自多个摄像机和三维特征的源的点云融合
公开(公告)号：WO2016040634A1
公开(公告)日：2016-03-17
申请号：PCT/US2015/049429
申请日：2015-09-10
申请人： CYBEROPTICS CORPORATION
发明人： RUDD, Eric, P. , HAUGAN, Carl, E.
IPC分类号： G01N21/88 , G01B11/24 , G01B11/30 , G06T7/00
CPC分类号： G06T7/0004 , G01B11/25 , G01B11/2545 , G06T7/521 , G06T7/586 , G06T2207/10028 , G06T2207/30141 , G06T2207/30152
摘要： A computer-implemented method (100) of and system (60) for measuring a three- dimensional surface are provided. The method (100) includes projecting (102) structured illumination on the surface and acquiring a plurality of sets of images. The sets of images are processed (106) to obtain a plurality of point clouds. A spatial accumulator is defined (104). A first point cloud of the plurality of point clouds is combined (108) with a second point cloud of the plurality of point clouds into the spatial accumulator. Spatial coordinates of the surface are generated (112) based on the contents of the spatial accumulator.
摘要翻译：提供了一种用于测量三维表面的计算机实现的方法（100）和系统（60）。方法（100）包括在表面上投射（102）结构照明并获取多组图像。处理（106）图像集合以获得多个点云。定义空间累加器（104）。将多个点云的第一点云与多个点云中的第二点云组合（108）到空间累加器中。基于空间累加器的内容生成（112）表面的空间坐标。

9. 发明申请

WO2006125102A1 METHOD AND APPARATUS FOR EVALUATING A COMPONENT PICK ACTION IN AN ELECTRONICS ASSEMBLY MACHINE 审中-公开
标题翻译：用于评估电子组装机中组分捕捉作用的方法和装置
公开(公告)号：WO2006125102A1
公开(公告)日：2006-11-23
申请号：PCT/US2006/019281
申请日：2006-05-18
申请人： CYBEROPTICS CORPORATION , CASE, Steven, K. , KONICEK, John, P. , DUQUETTE, David, W. , RUDD, Eric, P. , MANICKAM, Swaminathan
发明人： CASE, Steven, K. , KONICEK, John, P. , DUQUETTE, David, W. , RUDD, Eric, P. , MANICKAM, Swaminathan
IPC分类号： H05K13/04
CPC分类号： H05K13/08
摘要： An electronics assembly apparatus (10, 201) with improved pick evaluation is provided. The apparatus (10, 201) includes a placement head (206) having at least one nozzle (208, 210, 212) for releasably picking up and holding a component (304) . A robotic system is provided for generating relative movement between the placement head (206) and a workpiece (203) , such as a circuit board. An image acquisition system (300) is disposed to obtain at least one before -pick image of a component pick up location (16) and at least one after-pick image of the component pick up location (16) . The before-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view, while the after-pick image contains a plurality of image portions, having each image portion view the pick-up location from a different point of view.
摘要翻译：提供了具有改进的拾取评估的电子组装装置（10,201）。装置（10,201）包括具有至少一个喷嘴（208,210,212）的放置头（206），用于可释放地拾取和保持部件（304）。提供了一种机器人系统，用于在放置头（206）和诸如电路板的工件（203）之间产生相对运动。设置图像采集系统（300）以获得组件拾取位置（16）的至少一个先前图像和组件拾取位置（16）的至少一个后拾取图像。拾取后图像包含多个图像部分，每个图像部分从不同的观点看待拾取位置，而拾取后图像包含多个图像部分，每个图像部分都可以看到拾取位置，从不同的角度看待位置。

10. 发明申请

WO2003034796A1 RAPID-FIRING FLASHLAMP DISCHARGE CIRCUIT 审中-公开
标题翻译：快速闪光灯放电电路
公开(公告)号：WO2003034796A1
公开(公告)日：2003-04-24
申请号：PCT/US2002/024959
申请日：2002-08-08
申请人： CYBEROPTICS CORPORATION
发明人： RUDD, Eric, P. , HAUGAN, Carl, E.
IPC分类号： H05B41/34
CPC分类号： G01B11/2518 , G01B11/30 , G06T1/0007 , G06T7/0002 , G06T7/0004 , G06T2207/30152 , H03K3/57 , H05B41/34
摘要： A flashlamp circuit (130) includes a charge reservoir (136) that receives a first voltage from an external source. The charge reservoir (136) is coupled to a resonator and a plurality of discharge capacitors (140, 142) to provide a second voltage to the plurality of discharge capacitors (140, 142) that is greater than the first voltage. A switch (144) is disposed between at least one of the discharge capacitors (140, 142) and ground to selectively charge the at least one discharge capacitor (140, 142) based upon an input to the switch (144). Discharge energy is passed from the discharge capacitor(s) (140, 142) to a flashlamp (143) through a discharge bank without passing through any inductive elements. A bleeder circuit (134) can be interposed between the power supply (132) and the reservoir (136) to discharge the reservoir (136) upon shutdown.
摘要翻译：闪光灯电路（130）包括从外部源接收第一电压的电荷贮存器（136）。电荷贮存器（136）耦合到谐振器和多个放电电容器（140,142）以向多个放电电容器（140,142）提供大于第一电压的第二电压。开关（144）设置在至少一个放电电容器（140,142）和接地之间，以基于对开关（144）的输入来选择性地对所述至少一个放电电容器（140,142）充电。放电能量从放电电容器（140,142）通过放电组件通过闪光灯（143）而不通过任何电感元件。在电源（132）和储存器（136）之间可以插入泄放电路（134），以在关闭时排出储存器（136）。

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