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公开(公告)号：US5838882A
公开(公告)日：1998-11-17
申请号：US741900
申请日：1996-10-31
CPC分类号： B25J9/1694
摘要： A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening. The end effector also includes transducers responsive to at least one of force and torque acting on the end effector, resulting from partial entry of the tool, or a tool proxy such as a guide, into a tube opening. The sensing of the reflected light pattern, and the sensing of the force and/or torque, result in the generation of second and third signals, respectively which, along with the first signal, are utilized in the computer for controlling the arm to center the tool for actuation fully into the selected tube opening.
摘要翻译： 一种机器人和相关联的控制系统以及一种控制方法，用于维修具有基本上平面的管板的热交换器，所述管板限定已知形状的多个横向间隔开的管开口，每个管开口以管的坐标为中心 纸张坐标系。 与机器人端部执行器和相关联的数字处理系统相关联的感觉系统包括用于产生管板的一部分的图像的视觉子系统，并且产生与工具与所选择的管开口的空间关系相称的第一信号。 还提供光学子系统，用于将结构化光束朝向管板投射并且接收反射的结构光图案，指示工具与目标开口对准的程度。 端部执行器还包括响应于作用在末端执行器上的力和扭矩中的至少一个的换能器，这是由于工具或工具代理（例如引导件）的部分进入管口。 反射光图案的感测以及力和/或扭矩的感测导致分别产生第二和第三信号，其中连同第一信号一起被用于计算机中以控制手臂将中心 用于致动的工具完全进入所选择的管开口。
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公开(公告)号：US5751610A
公开(公告)日：1998-05-12
申请号：US741898
申请日：1996-10-31
CPC分类号： F22B37/003
摘要： The work cell is divided into a plurality of calibration zones, and calibration is made with only one measured point in each zone. The calibration zones are set up such that the calibration error in each zone remains within an acceptable tolerance. Within each zone, calibration is preferably made according to a linear calibration algorithm. The method according to the invention includes the steps of storing a first database, of the coordinates of all the tube openings in the tube sheet coordinate system. Each coordinate of the first database is assigned to one of a plurality of calibration zones.
摘要翻译： 工作单元被分成多个校准区域，并且在每个区域中仅用一个测量点进行校准。 设置校准区域使得每个区域中的校准误差保持在可接受的公差范围内。 在每个区域内，优选根据线性校准算法进行校准。 根据本发明的方法包括以下步骤：在管板坐标系中存储所有管开口的坐标的第一数据库。 将第一数据库的每个坐标分配给多个校准区域中的一个。
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公开(公告)号：US5878151A
公开(公告)日：1999-03-02
申请号：US740702
申请日：1996-10-31
CPC分类号： G06K9/209 , G06T7/2033 , G06K2209/19
摘要： An image of the object remains in the field of view of the camera, thereby generating a continuously changing image signal. The images are captured and digitized in a continual sequence S of discrete images of the scenes at a respective sequence T of points in time. During this capture sequence, a first plurality of reference signals are established corresponding to a plurality of respective captured images. In this manner, a plurality of reference images are generated on-line, during movement of the object or cameras. A second plurality of detected signals corresponding to a second plurality of captured images, are individually correlated with the respective next previous reference signal of the sequence, thereby establishing a relative position of the object or camera, for each detected signal. The absolute position of the camera or object, is determined by accumulating these relative positions.
摘要翻译： 物体的图像保持在照相机的视野中，从而产生连续变化的图像信号。 以相应的时间点的序列T，在场景的离散图像的连续序列S中拍摄和数字化图像。 在该捕获序列期间，对应于多个相应的捕获图像建立第一多个参考信号。 以这种方式，在物体或照相机的移动期间在线生成多个参考图像。 对应于第二多个拍摄图像的第二多个检测信号与序列的相应的下一个先前参考信号单独相关，从而为每个检测到的信号建立对象或照相机的相对位置。 相机或物体的绝对位置是通过累加这些相对位置来确定的。
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