公开(公告)号：US07853352B2

公开(公告)日：2010-12-14

申请号：US11885797

申请日：2006-03-03

Applicant: Peter Österlund ,  Roger Jonasson

Inventor： Peter Österlund ,  Roger Jonasson

IPC: G06F19/00 ,  G06K9/00 ,  G05B19/18

CPC classification number: G05B19/4015 ,  G05B2219/37067

Abstract: A method of self calibrating a positioning system, by positioning a reference device provided with reference markings at different calibration locations, and sensing the positions of the reference markings at each calibration location, is provided. The calibration parameters are selected such that differences in relative positions of the sensed locations, expressed in actual coordinates for different calibration locations are reduced or preferably minimized.

Abstract translation: 提供了一种通过将在不同校准位置处具有参考标记的参考装置定位并且感测每个校准位置处的参考标记的位置来自动校准定位系统的方法。 选择校准参数，使得以不同校准位置的实际坐标表示的感测位置的相对位置的差异被减小或优选地最小化。

公开(公告)号：US20080195343A1

公开(公告)日：2008-08-14

申请号：US11885797

申请日：2006-03-03

Applicant: Peter Osterlund ,  Roger Jonasson

Inventor： Peter Osterlund ,  Roger Jonasson

IPC: G01C17/38 ,  G06F19/00 ,  G01P21/00

CPC classification number: G05B19/4015 ,  G05B2219/37067

Abstract: A method of self calibrating a positioning system, by positioning a reference device provided with reference markings at different calibration locations, and sensing the positions of the reference markings at each calibration location. The calibration parameters are selected such that differences in relative positions of the sensed locations, expressed in actual coordinates for different calibration locations are reduced or preferably minimized.

Abstract translation: 通过将在不同校准位置处具有参考标记的参考装置定位并感测每个校准位置处的参考标记的位置，自动校准定位系统的方法。 选择校准参数，使得以不同校准位置的实际坐标表示的感测位置的相对位置的差异被减小或优选地最小化。

公开(公告)号：US20070185595A1

公开(公告)日：2007-08-09

申请号：US11350350

申请日：2006-02-08

Applicant: Shawn Ruden

Inventor： Shawn Ruden

IPC: G05B19/18

CPC classification number: B25J9/1692 ,  G05B2219/37067 ,  G05B2219/37129

Abstract: Apparatus and method for reference point teaching for an articulated member, such as a robotic arm. An end effector is moved to form a witness mark on a medium at a target location. An updated reference point for the end effector is generated in relation to a detected coordinate of the witness mark. The end effector preferably supports a gage with a tapered probe, and a distal end of the probe contactingly engages the medium to form the witness mark. A vision system preferably detects the position of the witness mark after retraction of the end effector away from the mark. The medium preferably comprises paper, and the witness mark preferably comprises a hole punched therethrough. Alternatively, the medium comprises pressure sensitive paper and the mark is formed by the application of pressure thereto. The gage can comprise two probes that make two spaced apart witness marks, as desired.

Abstract translation: 用于诸如机器臂的铰接构件的参考点教导的装置和方法。 移动末端执行器以在目标位置的介质上形成见证标记。 相对于检测到的见证标记的坐标，生成用于末端执行器的更新的参考点。 末端执行器优选地支撑具有锥形探针的量规，并且探针的远端与介质接触以形成见证标记。 视觉系统优选地在尾端执行器缩回标记之后检测证人标记的位置。 介质优选地包括纸，并且证明标记优选地包括穿过其中的孔。 或者，介质包括压敏纸，并且通过施加压力来形成标记。 量具可以包括两个探针，根据需要形成两个间隔开的见证标记。

公开(公告)号：US07117068B2

公开(公告)日：2006-10-03

申请号：US10676567

申请日：2003-09-30

Applicant: Michael E. Critchlow

Inventor： Michael E. Critchlow

IPC: G06F19/00

CPC classification number: B25J9/1692 ,  G05B2219/37067 ,  G05B2219/39024 ,  G05B2219/39045 ,  G05B2219/45045 ,  G11B15/6895 ,  G11B17/228

Abstract: In one aspect and one example, a method for calibrating robotic picker mechanisms in automated storage library systems includes detecting a calibration mark with at least one sensor from a first position and a second position, where the first position and the second position are separated by an offset distance. Further, the method includes determining a shift in the calibration mark between the first position and the second position, and determining a distance between a reference position and the calibration mark based on the shift in the calibration mark, the offset distance, and the focal length of the sensor.

Abstract translation: 在一个方面和一个示例中，用于校准自动存储库系统中的机器人选择器机构的方法包括：利用来自第一位置和第二位置的至少一个传感器检测校准标记，其中第一位置和第二位置由 偏移距离。 此外，该方法包括确定在第一位置和第二位置之间的校准标记的偏移，并且基于校准标记的移动，偏移距离和焦距来确定参考位置和校准标记之间的距离 的传感器。

公开(公告)号：US20050080512A1

公开(公告)日：2005-04-14

申请号：US10676567

申请日：2003-09-30

Applicant: Michael Critchlow

Inventor： Michael Critchlow

IPC: G01B11/00 ,  B25J9/16 ,  G11B15/68 ,  G11B17/22 ,  G06F19/00

CPC classification number: B25J9/1692 ,  G05B2219/37067 ,  G05B2219/39024 ,  G05B2219/39045 ,  G05B2219/45045 ,  G11B15/6895 ,  G11B17/228

Abstract: In one aspect and one example of the present invention, a method for calibrating robotic picker mechanisms in automated storage library systems includes detecting a calibration mark with at least one sensor from a first position and a second position, where the first position and the second position are separated by an offset distance. Further, the method includes determining a shift in the calibration mark between the first position and the second position, and determining a distance between a reference position and the calibration mark based on the shift in the calibration mark, the offset distance, and the focal length of the sensor.

Abstract translation: 在本发明的一个方面和一个示例中，用于校准自动存储库系统中的机器人拾取机构的方法包括：从第一位置和第二位置检测具有至少一个传感器的校准标记，其中第一位置和第二位置 被偏移距离分隔。 此外，该方法包括确定在第一位置和第二位置之间的校准标记的偏移，并且基于校准标记的移动，偏移距离和焦距来确定参考位置和校准标记之间的距离 的传感器。

公开(公告)号：US07430456B2

公开(公告)日：2008-09-30

申请号：US11350350

申请日：2006-02-08

Applicant: Shawn A. Ruden

Inventor： Shawn A. Ruden

IPC: G05B19/04 ,  G05B19/18 ,  G05B15/00 ,  G05B19/00 ,  G05B19/42 ,  B25J9/22 ,  B25J15/02

CPC classification number: B25J9/1692 ,  G05B2219/37067 ,  G05B2219/37129

Abstract: Apparatus and method for reference point teaching for an articulated member, such as a robotic arm. An end effector is moved to form a witness mark on a medium at a target location. An updated reference point for the end effector is generated in relation to a detected coordinate of the witness mark. The end effector preferably supports a gage with a tapered probe, and a distal end of the probe contactingly engages the medium to form the witness mark. A vision system preferably detects the position of the witness mark after retraction of the end effector away from the mark. The medium preferably comprises paper, and the witness mark preferably comprises a hole punched therethrough. Alternatively, the medium comprises pressure sensitive paper and the mark is formed by the application of pressure thereto. The gage can comprise two probes that make two spaced apart witness marks, as desired.

Abstract translation: 用于诸如机器臂的铰接构件的参考点教导的装置和方法。 移动末端执行器以在目标位置的介质上形成见证标记。 相对于检测到的见证标记的坐标，生成用于末端执行器的更新的参考点。 末端执行器优选地支撑具有锥形探针的量规，并且探针的远端与介质接触以形成见证标记。 视觉系统优选地在尾端执行器缩回标记之后检测证人标记的位置。 介质优选地包括纸，并且证明标记优选地包括穿过其中的孔。 或者，介质包括压敏纸，并且通过施加压力来形成标记。 量具可以包括两个探针，根据需要形成两个间隔开的见证标记。

公开(公告)号：US20060047363A1

公开(公告)日：2006-03-02

申请号：US10945196

申请日：2004-09-20

Applicant: Philip Farrelly ,  Scott Bartolett

Inventor： Philip Farrelly ,  Scott Bartolett

IPC: G06F19/00

CPC classification number: G01N35/0099 ,  B25J9/1692 ,  G01N35/00722 ,  G01N2035/0491 ,  G05B2219/37067

Abstract: A robotic laboratory automation system includes a vision feedback apparatus with one or more teaching plates adapted for placement in a microplate or other specimen holder of a laboratory instrument or stack to represent the location of the microplate. The vision feedback system is adapted to control the robotic manipulator to automatically adjust the location of the manipulator to a position adjacent to a teaching plate upon locating a pattern on the teaching plate and then store the coordinates of the determined position. With the stored position coordinates the robot can return to the determined positions previously represented by the location of teaching plates to locate an actual microplate or specimen holder at the determined position without the vision feedback system.

Abstract translation: 机器人实验室自动化系统包括具有一个或多个教导板的视觉反馈装置，其适于放置在实验室仪器或堆叠的微孔板或其他样本保持器中以表示微孔板的位置。 视觉反馈系统适于控制机器人操纵器在将图案定位在教学板上时自动调节操纵器的位置到与教学板相邻的位置，然后存储确定位置的坐标。 利用存储的位置坐标，机器人可以返回到由教学板的位置先前表示的确定的位置，以将实际的微孔板或样本架定位在所确定的位置，而没有视觉反馈系统。

公开(公告)号：US06483596B1

公开(公告)日：2002-11-19

申请号：US09557065

申请日：2000-04-21

Applicant: Jochen Philippi ,  Andreas Lohner

Inventor： Jochen Philippi ,  Andreas Lohner

IPC: G01B1114

CPC classification number: G05B19/4015 ,  B29C64/386 ,  B33Y50/00 ,  G05B2219/37067 ,  G05B2219/37068 ,  G05B2219/37555 ,  G05B2219/37572 ,  G05B2219/49007

Abstract: The invention refers to a method for calibrating the control of a radiation device producing electromagnetic radiation or particle radiation in a rapid prototyping system. The method comprises the steps of arranging a calibration plate at a defined position in the rapid prototyping system, the calibration plate having an upper side with a first region and a second region separate from the first region, the first region being provided with optically detectable reference marks and the second region having a medium which is sensitive to the radiation of the radiation device, producing a test pattern by exposing said medium to said radiation at predetermined desired positions defined by position coordinate data, digitizing the first region of the calibration plate with the reference marks thereon and the second region of the calibration plate having the test pattern, comparing the digitized reference marks and the digitized test pattern and calculating and providing correction data for the control of the radiation device on the basis of the comparison.

Abstract translation: 本发明涉及用于校准在快速成型系统中产生电磁辐射或粒子辐射的辐射装置的控制的方法。 该方法包括以下步骤：将校准板布置在快速成型系统中的限定位置，校准板具有上侧，其具有与第一区域分开的第一区域和第二区域，第一区域具有光学可检测的参考 标记，第二区域具有对辐射装置的辐射敏感的介质，通过在由位置坐标数据限定的预定期望位置处将所述介质暴露于所述辐射来产生测试图案，将校准板的第一区域与 参考标记，并且具有测试图案的校准板的第二区域，比较数字化参考标记和数字化测试图案，并且基于比较计算和提供用于控制辐射装置的校正数据。

公开(公告)号：US20180093380A1

公开(公告)日：2018-04-05

申请号：US15723732

申请日：2017-10-03

Applicant: FANUC CORPORATION

Inventor： Junichirou Yoshida ,  Fumikazu Warashina

IPC: B25J9/16 ,  B25J19/02 ,  B25J13/08 ,  B25J5/00

CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J13/088 ,  B25J19/021 ,  B25J19/023 ,  G05B2219/37067 ,  G05B2219/40298

Abstract: The robot system includes a carriage for supporting a robot. The robot system includes a camera, and a mark disposed in a workspace. The control device includes a position acquisition part that is configured to acquire a position of the mark on the basis of an image captured by the camera, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range. When the determination part determines that the position of the robot deviates from the determination range, the display device displays the direction and the movement amount in which the carriage is to be moved.

公开(公告)号：US06374158B1

公开(公告)日：2002-04-16

申请号：US09504196

申请日：2000-02-15

Applicant: Robert Anthony Fusaro, Jr.

Inventor： Robert Anthony Fusaro, Jr.

IPC: G05B1904

CPC classification number: G05B19/425 ,  B23K10/027 ,  B23K2101/001 ,  B23Q17/24 ,  B25J19/022 ,  G05B19/401 ,  G05B2219/35347 ,  G05B2219/37048 ,  G05B2219/37067 ,  G05B2219/37275 ,  G05B2219/37555 ,  G05B2219/45104 ,  G05B2219/49231

Abstract: A robotic machine includes a machine tool removably supported in a mount for following a programmable path over a workpiece. A calibration pointer includes a housing configured like the tool for being supported in the mount, and a laser is affixed in the housing for emitting a laser beam at the workpiece. In a method of operation, the laser beam is projected from the laser in a focused spot at the workpiece at an offset therefrom. The spot permits accurate programming of the machine without contacting the workpiece.

Abstract translation: 机器人机器包括可拆卸地支撑在用于跟随工件上的可编程路径的安装件中的机床。 校准指示器包括被构造为类似于用于支撑在安装件中的工具的壳体，并且激光器固定在壳体中，用于在工件处发射激光束。 在一种操作方法中，激光束在与工件偏离的工件处的聚焦点处从激光投影。 该位置可以准确地对机器进行编程，而不会接触工件。