公开(公告)号：US20170010088A1

公开(公告)日：2017-01-12

申请号：US14791558

申请日：2015-07-06

Applicant: Recognition Robotics, Inc.

Inventor： Simon Melikian

IPC: G01B11/02 ,  B05C11/00 ,  G01N21/55 ,  G02B5/10

CPC classification number: G01B11/25 ,  B05C5/0216 ,  B05C11/1005 ,  G02B5/10

Abstract: A measurement system includes a cylindrical mirror, a light source, a photosensitive array, and a processor. The light source is configured and positioned with respect to the cylindrical mirror such that light from the light source is reflected from the cylindrical mirror as a circular arc on an object surface. The photosensitive array is positioned with respect to the cylindrical mirror to detect the circular arc on the object surface. The processor is in communication with the photosensitive array and is configured to detect a break in the circular arc and to measure a substance applied to the object surface based on an image detected by the photosensitive array.

Abstract translation: 测量系统包括圆柱形反射镜，光源，感光阵列和处理器。 光源相对于圆柱形反射镜构造和定位，使得来自光源的光从圆柱形反射镜反射成物体表面上的圆弧。 光敏阵列相对于圆柱形镜子定位以检测物体表面上的圆弧。 处理器与光敏阵列通信，并且被配置为基于由感光阵列检测到的图像来检测圆弧中的断裂并测量施加到物体表面的物质。

公开(公告)号：US09019488B2

公开(公告)日：2015-04-28

申请号：US13925022

申请日：2013-06-24

Applicant: Recognition Robotics, Inc.

Inventor： Simon Melikian

IPC: G01B11/275

CPC classification number: G01B11/2755 ,  G01B2210/14

Abstract: A method for measuring wheel alignment of a test wheel rotating about a z-axis using at least one camera and a processor includes obtaining a calibration point from a calibration image of a zero-offset wheel that is the same size as the test wheel and that rotates about the z-axis, obtaining at least one test image of the test wheel with the camera and a non-structured light source, and locating a measurement point in the test image. The measurement point coincides with a radius that the calibration point is offset from the z-axis and the angular displacement of the calibration point from the vertical diameter of the zero-offset wheel. The measurement point is further located based on a change of reflectivity between other points in the test image adjacent the measurement point.

Abstract translation: 用于使用至少一个照相机和处理器来测量围绕z轴旋转的测试轮的轮对准的方法包括从与测试轮相同尺寸的零偏移轮的校准图像获得校准点， 围绕z轴旋转，使用相机和非结构化光源获得测试轮的至少一个测试图像，并将测量点定位在测试图像中。 测量点与校准点偏离z轴和校准点与零点偏移轮的垂直直径的角位移的半径重合。 基于与测量点相邻的测试图像中的其它点之间的反射率的变化，进一步定位测量点。

公开(公告)号：US20140135989A1

公开(公告)日：2014-05-15

申请号：US13673256

申请日：2012-11-09

Applicant: RECOGNITION ROBOTICS, INC. ,  ZAGAR INC.

Inventor： Simon Melikian ,  Jeremy Hughes ,  Brian Zagar

IPC: G05D15/00 ,  G01B11/14

CPC classification number: B25J9/1697 ,  B23B49/00 ,  B25J11/005 ,  B25J19/022 ,  G01B11/14 ,  G05B19/0405 ,  G05B2219/45059 ,  G05D15/00 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47

Abstract: An industrial robot system includes an end effector connectable to a robot arm, a drive assembly, and a controller. The end effector includes a distal housing, a spindle assembly rotatable about a rotational axis, a drill bit rotatable about the rotational axis, and a sensor assembly. The sensor assembly includes a first light source, a second light source, and a photosensitive array. The first light source produces a first fan of light which is projected as a first line of light on the object surface. The second light source produces a second fan of light, which is projected as a second line of light on the object surface. The photosensitive array detects a first reflection line corresponding to the first line of light and a second reflection line corresponding to the second line of light.

Abstract translation: 工业机器人系统包括可连接到机器人臂的端部执行器，驱动组件和控制器。 末端执行器包括远侧壳体，可围绕旋转轴线旋转的心轴组件，可围绕旋转轴线旋转的钻头和传感器组件。 传感器组件包括第一光源，第二光源和光敏阵列。 第一光源产生作为物体表面上的第一光线投影的第一光源风扇。 第二光源产生光的第二扇形，其作为物体表面上的第二条光线投影。 光敏阵列检测对应于第一光线的第一反射线和对应于第二光线的第二反射线。

公开(公告)号：US20130342830A1

公开(公告)日：2013-12-26

申请号：US13925022

申请日：2013-06-24

Applicant: Recognition Robotics, Inc.

Inventor： Simon Melikian

IPC: G01B11/275

CPC classification number: G01B11/2755 ,  G01B2210/14

Abstract: A method for measuring wheel alignment of a test wheel rotating about a z-axis using at least one camera and a processor includes obtaining a calibration point from a calibration image of a zero-offset wheel that is the same size as the test wheel and that rotates about the z-axis, obtaining at least one test image of the test wheel with the camera and a non-structured light source, and locating a measurement point in the test image. The measurement point coincides with a radius that the calibration point is offset from the z-axis and the angular displacement of the calibration point from the vertical diameter of the zero-offset wheel. The measurement point is further located based on a change of reflectivity between other points in the test image adjacent the measurement point.

Abstract translation: 用于使用至少一个照相机和处理器来测量围绕z轴旋转的测试轮的轮对准的方法包括从与测试轮相同尺寸的零偏移轮的校准图像获得校准点， 围绕z轴旋转，使用相机和非结构化光源获得测试轮的至少一个测试图像，并将测量点定位在测试图像中。 测量点与校准点偏离z轴和校准点与零点偏移轮的垂直直径的角位移的半径重合。 基于与测量点相邻的测试图像中的其它点之间的反射率的变化，进一步定位测量点。