公开(公告)号：US11854222B2

公开(公告)日：2023-12-26

申请号：US18097450

申请日：2023-01-16

申请人： K2R2 LLC

发明人： Graham Ross ,  Robert L Kay

IPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90

CPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90 ,  G06T2207/10012 ,  G06T2207/30164 ,  G06T2207/30204 ,  Y10S901/47

摘要： This application describes a method of determining a position and orientation of an object having a plurality of fiducials attached thereto. The method includes the steps of forming images of the plurality of fiducials on a sensitive surface of a sensor and determining a 2D location of each of the images of the plurality of fiducials on the sensitive surface. Information comprising 3D positions of the plurality of fiducials in a coordinate system of the object is then retrieved and each of the 2D locations of the plurality of images is associated with the 3D position of the same fiducial. A position and orientation of the object with respect to the sensitive surface of the sensor is then determined based in part on the 2D locations of the images and the 3D positions of the fiducials.

公开(公告)号：US20240005549A1

公开(公告)日：2024-01-04

申请号：US18239939

申请日：2023-08-30

申请人： K2R2 LLC

发明人： Graham Ross ,  Robert L. Kay

IPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90

CPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90 ,  Y10S901/47 ,  G06T2207/10012 ,  G06T2207/30164 ,  G06T2207/30204

摘要： This application describes a spatial envelope defining interaction of a robot arm and a fixture. The spatial envelope has a “keep-out” envelope defining a volume that the robot arm shall avoid entering, an input location defining a volume where the robot arm is to place a first object, an output location defining a volume from which the robot arm is to remove a second object, and a plurality of target items.

公开(公告)号：US11587251B2

公开(公告)日：2023-02-21

申请号：US17240718

申请日：2021-04-26

申请人： K2R2 LLC

发明人： Graham Ross ,  Robert Kay

IPC分类号： G06T7/70 ,  H04N5/225 ,  H04N5/247 ,  G06T7/73 ,  H04N13/239

摘要： This application describes fixture having a body and a plurality of fiducials with at least one of the fiducials having a first state and a second state and able to move to one of the first state and the second state. The fiducials are arranged such that knowledge of the 3D positions of the fiducials in an observing coordinate system is sufficient to determine a first position and a first orientation of the body in the observing coordinate system.

公开(公告)号：US20220128475A1

公开(公告)日：2022-04-28

申请号：US17395814

申请日：2021-08-06

申请人： K2R2 LLC

发明人： Robert L Kay ,  Graham Ross

IPC分类号： G01N21/65

摘要： An apparatus for analysis of a sample of a material is disclosed. The apparatus includes a holder configured to accept the sample. The holder includes a sample plate having a first surface configured to contact the accepted sample and a sample lens array that comprises a plurality of focusing elements.

公开(公告)号：US20230162385A1

公开(公告)日：2023-05-25

申请号：US18097450

申请日：2023-01-16

申请人： K2R2 LLC

发明人： Graham Ross ,  Robert L Kay

IPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90

CPC分类号： G06T7/70 ,  G06T7/73 ,  H04N13/239 ,  H04N23/57 ,  H04N23/90 ,  G06T2207/10012 ,  G06T2207/30164 ,  G06T2207/30204 ,  Y10S901/47

摘要： This application describes a method of determining a position and orientation of an object having a plurality of fiducials attached thereto. The method includes the steps of forming images of the plurality of fiducials on a sensitive surface of a sensor and determining a 2D location of each of the images of the plurality of fiducials on the sensitive surface. Information comprising 3D positions of the plurality of fiducials in a coordinate system of the object is then retrieved and each of the 2D locations of the plurality of images is associated with the 3D position of the same fiducial. A position and orientation of the object with respect to the sensitive surface of the sensor is then determined based in part on the 2D locations of the images and the 3D positions of the fiducials.

公开(公告)号：US11860105B2

公开(公告)日：2024-01-02

申请号：US18118901

申请日：2023-03-08

申请人： K2R2 LLC

发明人： Robert L Kay ,  Graham Ross

IPC分类号： G01J3/44 ,  G01N21/65

CPC分类号： G01N21/65 ,  G01J3/44 ,  G01N2201/0221

摘要： An apparatus for analysis of a sample of a material is disclosed. The apparatus has a body configured to accept the sample and a detector with a plurality of points. The detector is configured to provide a signal about the intensities of light received at the points. The apparatus also includes a slit array having a plurality of slits configured to collected light from the accepted sample and a collimating lens array having a plurality of lenses configured to receive the light from the slit array and collimate the collected light. The apparatus also includes a diffraction grating configured to diffract the light received from the collimating lens array and a focusing lens configured to focus the diffracted light of a common frequency on a common point of the detector.

公开(公告)号：US11860103B2

公开(公告)日：2024-01-02

申请号：US17592721

申请日：2022-02-04

申请人： K2R2 LLC

发明人： Robert L Kay ,  Graham Ross

IPC分类号： G01J3/44 ,  G01N21/65

CPC分类号： G01N21/65 ,  G01N2021/651 ,  G01N2201/022 ,  G01N2201/068

摘要： A method of analyzing a sample is disclosed. The method includes the steps of measuring a spectral response of the sample, selecting a reference material having a Raman peak with a magnitude at a wave number, measuring a peak value in the spectral response at the wave number, and determining an amount of the reference material in the sample based in part on a ratio of the measured peak value to the magnitude of the Raman peak of the reference material.

公开(公告)号：US11619588B2

公开(公告)日：2023-04-04

申请号：US17395814

申请日：2021-08-06

申请人： K2R2 LLC

发明人： Robert L Kay ,  Graham Ross

IPC分类号： G01J3/44 ,  G01N21/65

摘要： An apparatus for analysis of a sample of a material is disclosed. The apparatus includes a holder configured to accept the sample. The holder includes a sample plate having a first surface configured to contact the accepted sample and a sample lens array that comprises a plurality of focusing elements.

公开(公告)号：US20210295558A1

公开(公告)日：2021-09-23

申请号：US17336297

申请日：2021-06-01

申请人： K2R2 LLC

发明人： Graham Ross ,  Robert L. Kay

IPC分类号： G06T7/73 ,  B25J9/16

摘要： A system for connecting a first ship to a second ship, the system having a plurality of target items coupled to the second ship, a camera module coupled to the first ship and configured to provide information comprising positions of images of the target items in a FOV, and a processor coupled to the camera module and a memory and configured to determine a first position and a first orientation of the second ship relative to the first ship.

公开(公告)号：US20230243751A1

公开(公告)日：2023-08-03

申请号：US18118901

申请日：2023-03-08

申请人： K2R2 LLC

发明人： Robert L Kay ,  Graham Ross

IPC分类号： G01N21/65

CPC分类号： G01N21/65 ,  G01N2201/0221 ,  G01J3/44

摘要： An apparatus for analysis of a sample of a material is disclosed. The apparatus has a body configured to accept the sample and a detector with a plurality of points. The detector is configured to provide a signal about the intensities of light received at the points. The apparatus also includes a slit array having a plurality of slits configured to collected light from the accepted sample and a collimating lens array having a plurality of lenses configured to receive the light from the slit array and collimate the collected light. The apparatus also includes a diffraction grating configured to diffract the light received from the collimating lens array and a focusing lens configured to focus the diffracted light of a common frequency on a common point of the detector.