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    Target based determination of robot and sensor alignment
    73.
    发明授权
    Target based determination of robot and sensor alignment 失效
    基于目标的机器人和传感器对准的确定

    公开(公告)号：US5854880A

    公开(公告)日：1998-12-29

    申请号：US465742

    申请日：1995-06-06

    Applicant: Timothy R. Pryor

    Inventor： Timothy R. Pryor

    IPC: B25J9/16 ,  B25J19/02 ,  G06F15/46

    CPC classification number: B25J9/1697 ,  B25J19/023 ,  B25J9/1692

    Abstract: Target based machine vision useful for alignment of sensors and other objects affixed to structures, robots and the like. While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.

    Abstract translation: 基于目标的机器视觉对于固定到结构，机器人等上的传感器和其它物体的对准是有用的。 虽然特别涉及机器视觉系统相对于结构的对准，但是所公开的技术对于许多不同的传感器和对象是有用的。

    Vision assisted fixture construction
    76.
    发明授权
    Vision assisted fixture construction 失效
    视觉辅助夹具施工

    公开(公告)号：US5696673A

    公开(公告)日：1997-12-09

    申请号：US466875

    申请日：1995-06-06

    Applicant: Timothy R. Pryor

    Inventor： Timothy R. Pryor

    IPC: B25J9/16 ,  B25J9/18 ,  G05B19/4097 ,  G05B19/418 ,  G06F19/00

    CPC classification number: G05B19/4097 ,  B25J9/1697 ,  G05B19/41805 ,  G05B2219/36503 ,  G05B2219/37205 ,  G05B2219/37572 ,  G05B2219/45055 ,  G05B2219/50132 ,  Y02P90/04 ,  Y10T29/49769 ,  Y10T29/4978

    Abstract: A new method and apparatus for fabrication or alignment of fixtures, jigs and structures is disclosed. The invention uses target points on one or more details which are referenced to the overall structure via targets on the details. These targets are monitored by a TV camera unit which is alternatively interfaced to a display for the human operator or a robot to provide position data. The interface may include input from a CAD system which allows display on robot coordinates to be offset by design data of the structure or a part to be located on it. While mainly envisioned for assistance in constructing fixtures for automobile assembly, the disclosed invention is widely useable for all types of construction including aircraft, bridges, boats, buses, houses, buildings and the like. A means for improving resolution of automatically servoed camera based systems is also disclosed.

    Abstract translation: 公开了用于制造或对准固定装置，夹具和结构的新方法和装置。 本发明在通过细节上的目标参考整体结构的一个或多个细节上使用目标点。 这些目标由TV摄像机单元监视，TV摄像机单元可替代地连接到用于人类操作者或机器人的显示器以提供位置数据。 接口可以包括来自CAD系统的输入，其允许机器人坐标上的显示被结构的设计数据或要位于其上的部分偏移。 虽然主要用于协助构建用于汽车组装的固定装置，但是所公开的发明可广泛用于包括飞机，桥梁，船只，公共汽车，房屋，建筑物等在内的所有类型的构造。 还公开了一种用于提高基于自动伺服摄像机的系统的分辨率的方法。

    Vision assisted fixture construction
    78.
    发明授权
    Vision assisted fixture construction 失效
    视觉辅助夹具施工

    公开(公告)号：US5615108A

    公开(公告)日：1997-03-25

    申请号：US466790

    申请日：1995-06-06

    Applicant: Timothy R. Pryor

    Inventor： Timothy R. Pryor

    IPC: B25J9/16 ,  B25J9/18 ,  G05B19/4097 ,  G05B19/418 ,  G06F19/00

    CPC classification number: G05B19/4097 ,  B25J9/1697 ,  G05B19/41805 ,  G05B2219/36503 ,  G05B2219/37205 ,  G05B2219/37572 ,  G05B2219/45055 ,  G05B2219/50132 ,  Y02P90/04 ,  Y10T29/49769 ,  Y10T29/4978

    Abstract: A method and apparatus for fabrication or alignment of fixtures, jigs and structures is disclosed. The invention uses target points on one or more details which are referenced to the overall structure via targets on the details. These targets are monitored by a TV camera unit which is alternatively interfaced to a display for the human operator or a robot to provide position data. The interface may include input from a CAD system which allows display on robot coordinates to be offset by design data of the structure or a part to be located on it.While mainly envisioned for assistance in constructing fixtures for automobile assembly, the disclosed invention is widely useable for all types of construction including aircraft, bridges, boats, buses, houses, buildings and the like. A means for improving resolution of automatically servoed camera based systems is also disclosed.

    Abstract translation: 公开了用于制造或对准固定装置，夹具和结构的方法和装置。 本发明在通过细节上的目标参考整体结构的一个或多个细节上使用目标点。 这些目标由TV摄像机单元监视，TV摄像机单元可替代地连接到用于人类操作者或机器人的显示器以提供位置数据。 接口可以包括来自CAD系统的输入，其允许机器人坐标上的显示被结构的设计数据或要位于其上的部分偏移。 虽然主要用于协助构建用于汽车组装的固定装置，但是所公开的发明可广泛用于包括飞机，桥梁，船只，公共汽车，房屋，建筑物等在内的所有类型的构造。 还公开了一种用于提高基于自动伺服摄像机的系统的分辨率的方法。

    Target based determination of robot and sensor alignment
    79.
    发明授权
    Target based determination of robot and sensor alignment 失效
    基于目标的机器人和传感器对准的确定

    公开(公告)号：US5374830A

    公开(公告)日：1994-12-20

    申请号：US170988

    申请日：1993-12-21

    Applicant: Timothy R. Pryor

    Inventor： Timothy R. Pryor

    IPC: B25J9/16 ,  B25J19/02 ,  G01N21/86

    CPC classification number: B25J9/1697 ,  B25J19/023 ,  B25J9/1692

    Abstract: Target based machine vision useful for alignment of sensors and other objects affixed to structures, robots and the like. While addressed particularly to alignment of machine vision systems relative to structures, the techniques disclosed are useful with a multitude of different sensors and objects.

    Abstract translation: 基于目标的机器视觉对于固定到结构，机器人等上的传感器和其它物体的对准是有用的。 虽然特别涉及机器视觉系统相对于结构的对准，但是所公开的技术对于许多不同的传感器和对象是有用的。

    Electro-optical inspection
    80.
    发明授权
    Electro-optical inspection 失效
    电光检查

    公开(公告)号：US5114230A

    公开(公告)日：1992-05-19

    申请号：US460641

    申请日：1990-01-03

    Applicant: Timothy R. Pryor

    Inventor： Timothy R. Pryor

    IPC: G01B11/24

    CPC classification number: G01B11/2433

    Abstract: A method and apparatus for inspecting workpieces for rapid and accurate determination of dimensions and the like. The equipment is electro-optical in nature and there is no contact between the inspecting elements and the workpiece under inspection. An electro-optical sensor is utilized which includes a light source for illuminating at least one edge of a workpiece, a lens for forming an image of the illuminated edge, and an array of photosensitive elements, such a photodiodes, capable of producing an electrical signal in response to light incident thereon. The light, including the edge image, is impinged upon the array and the electrical signals produced correspond to the portion of the edge, its shape, etc. The signals can be rapidly analyzed to provide a determination of a dimension such as length, squareness, curvature, and the like.

    Abstract translation: 一种用于检查工件的方法和装置，用于快速和准确地确定尺寸等。 该设备本质上是电光学的，检查元件和被检查的工件之间没有接触。 使用电光传感器，其包括用于照射工件的至少一个边缘的光源，用于形成被照射边缘的图像的透镜以及能够产生电信号的光敏元件阵列，例如光电二极管 响应于其上的光入射。 包括边缘图像的光被撞击在阵列上并且产生的电信号对应于边缘的部分，其形状等。可以快速地分析信号以提供尺寸的确定，诸如长度，矩形度， 曲率等。

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