公开(公告)号：US20150029825A1

公开(公告)日：2015-01-29

申请号：US14341437

申请日：2014-07-25

Applicant: C.R.F. Societa Consortile per Azioni

Inventor： Alessandro CISI

IPC: G01S5/22

CPC classification number: G01S5/30

Abstract: A method for locating a tool in a work space via ultrasound includes associating an ultrasound transmitter to a tool and calculating a position of the tool on the basis of determination of the position of the transmitter. At least three ultrasound receivers for receiving ultrasound signals from the transmitter are set in positions relative to the work space. A calculation of a position of the transmitter includes using a trilateration procedure that includes a change of reference of the positions of the receivers and is carried out to reference them in a second simplified reference system. An unknown point in the second simplified reference system is obtained. A rototranslation of the position of the unknown point obtained from the second simplified reference system is carried out into a first reference system, and a corresponding rototranslation matrix is calculated such that the unknown point is used as position of the transmitter.

Abstract translation: 通过超声波定位工作空间中的工具的方法包括将超声波发射器与工具相关联，并且基于确定发射器的位置来计算工具的位置。 用于从发射机接收超声信号的至少三个超声波接收机设置在相对于工作空间的位置。 发射机的位置的计算包括使用包括接收机的位置的参考的改变的三边测量过程，并且被执行以在第二简化参考系统中引用它们。 获得第二简化参考系中的未知点。 从第二简化参考系统获得的未知点的位置的旋转转换被执行到第一参考系统中，并且计算相应的旋转转换矩阵，使得未知点被用作发射机的位置。

公开(公告)号：US20150035948A1

公开(公告)日：2015-02-05

申请号：US14335264

申请日：2014-07-18

Applicant: C.R.F. Societa Consortile per Azioni

Inventor： Alessandro CISI

IPC: H04N5/232 ,  H04N13/02

CPC classification number: H04N5/23296 ,  G05B19/402 ,  H04N13/239

Abstract: A method for locating a tool for industrial operations that is positioned in a sequence of operating points of an operating sequence associated to different positions on a component on which work is to be carried out, includes associating a light source to the tool and at least three light sources identifying a position reference triplet fixed with respect to the component. A stereovision apparatus having at least two video cameras acquires at least two respective images of the tool and component. The displacement of the operating points on the component is tracked when carrying out an industrial operation on the component by recognizing positions of the reference triplet and a point of the light source of the tool calculating the position of the operating points of an operating sequence with reference to the position assumed by the reference triplet and evaluating the position of the tool with respect to the calculated position of the operating points.

Abstract translation: 一种用于定位用于工业操作的工具的方法，其包括将光源与所述工具相关联，并且将至少三个关联光源与所述工具相关联，所述工具的工具位于与要在其上进行工作的部件上的不同位置相关联的操作序列的操作序列的序列中 光源识别相对于部件固定的位置参考三元组。 具有至少两个摄像机的立体视觉设备获取工具和部件的至少两个相应的图像。 通过识别参考三元组的位置和工具的光源的点来计算操作序列的操作点的位置，参考上对部件上的工作点的位移进行跟踪 到由参考三元组假设的位置，并且相对于计算的操作点的位置来评估工具的位置。