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公开(公告)号：US08630729B2
公开(公告)日：2014-01-14
申请号：US13486172
申请日：2012-06-01
CPC分类号： G05B19/402 , G06Q10/08 , G06Q10/087 , Y10S901/30 , Y10S901/41 , Y10S901/42 , Y10S901/47
摘要： A method for verifying completion of a task. Location coordinates of at least one location sensor within a work cell are obtained. At least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. A virtual object locus is generated based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. One of a plurality of candidate features is identified as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.
摘要翻译： 一种用于验证任务完成的方法。 获得工作单元内至少一个位置传感器的位置坐标。 至少一个传感器被固定到用于对要组装，制造或检查的结构的特征进行操作的工具。 基于至少一个位置传感器的位置坐标来生成虚拟对象轨迹。 虚拟对象轨迹对应于要组装的结构的计算机化示意图，并且表示工具在工作单元内的物体端的所有可能位置。 多个候选特征之一被识别为最有可能是由该工具操作的特征。 该识别基于每个候选特征的概率计算，每个候选特征是由该工具操作的特征。
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公开(公告)号：US20120271448A1
公开(公告)日：2012-10-25
申请号：US13486172
申请日：2012-06-01
IPC分类号： G05B19/18
CPC分类号： G05B19/402 , G06Q10/08 , G06Q10/087 , Y10S901/30 , Y10S901/41 , Y10S901/42 , Y10S901/47
摘要： A method for verifying completion of a task. Location coordinates of at least one location sensor within a work cell are obtained. At least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. A virtual object locus is generated based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. One of a plurality of candidate features is identified as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.
摘要翻译： 一种用于验证任务完成的方法。 获得工作单元内至少一个位置传感器的位置坐标。 至少一个传感器被固定到用于对要组装，制造或检查的结构的特征进行操作的工具。 基于至少一个位置传感器的位置坐标来生成虚拟对象轨迹。 虚拟对象轨迹对应于要组装的结构的计算机化示意图，并且表示工具在工作单元内的物体端的所有可能位置。 多个候选特征之一被识别为最有可能是由该工具操作的特征。 该识别基于每个候选特征的概率计算，每个候选特征是由该工具操作的特征。
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公开(公告)号：US08200354B2
公开(公告)日：2012-06-12
申请号：US11408754
申请日：2006-04-21
CPC分类号： G05B19/402 , G06Q10/08 , G06Q10/087 , Y10S901/30 , Y10S901/41 , Y10S901/42 , Y10S901/47
摘要： A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.
摘要翻译： 提供了验证任务完成的方法。 在各种实施例中，该方法包括获得工作单元内的至少一个位置传感器的位置坐标。 所述至少一个传感器固定到用于对要组装，制造或检查的结构的特征进行操作的工具。 该方法还包括：基于至少一个位置传感器的位置坐标生成虚拟对象轨迹。 虚拟对象轨迹对应于要组装的结构的计算机化示意图，并且表示工具在工作单元内的物体端的所有可能位置。 该方法还包括：识别多个候选特征中的一个最可能是由该工具操作的特征。 该识别基于每个候选特征的概率计算，每个候选特征是由该工具操作的特征。
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公开(公告)号：US08922647B2
公开(公告)日：2014-12-30
申请号：US13197645
申请日：2011-08-03
CPC分类号： G01B11/002 , G01B11/02 , G01B11/25 , G01B21/045
摘要： A method of measuring a feature of an article may include projecting a scale template onto the article at a predetermined size. The method may additionally include projecting a measurement pattern onto the article. An image containing the feature, the scale template, and the measurement pattern may be recorded by the camera. The method may further include determining a scale factor of the image based on the scale template, and determining a size and/or a location of the feature based upon the measurement pattern and the image scale factor.
摘要翻译： 测量物品的特征的方法可以包括以规定尺寸将鳞片模板投影到物品上。 该方法可以另外包括将测量图案投影到制品上。 可以通过照相机记录包含特征，比例尺模板和测量图案的图像。 该方法还可以包括基于比例模板来确定图像的比例因子，以及基于测量图案和图像比例因子确定特征的大小和/或位置。
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公开(公告)号：US20130033596A1
公开(公告)日：2013-02-07
申请号：US13197645
申请日：2011-08-03
CPC分类号： G01B11/002 , G01B11/02 , G01B11/25 , G01B21/045
摘要： A method of measuring a feature of an article may include projecting a scale template onto the article at a predetermined size. The method may additionally include projecting a measurement pattern onto the article. An image containing the feature, the scale template, and the measurement pattern may be recorded by the camera. The method may further include determining a scale factor of the image based on the scale template, and determining a size and/or a location of the feature based upon the measurement pattern and the image scale factor.
摘要翻译： 测量物品的特征的方法可以包括以规定尺寸将鳞片模板投影到物品上。 该方法可以另外包括将测量图案投影到制品上。 可以通过照相机记录包含特征，比例尺模板和测量图案的图像。 该方法还可以包括基于比例模板来确定图像的比例因子，以及基于测量图案和图像比例因子确定特征的大小和/或位置。
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公开(公告)号：US08010235B2
公开(公告)日：2011-08-30
申请号：US11514072
申请日：2006-08-31
申请人： Philip L. Freeman
发明人： Philip L. Freeman
IPC分类号： G05B21/00
CPC分类号： B25J9/1607
摘要： A method of operating a multi-axis machine. The machine linkage is monitored to detect an approach by linkage joint(s) toward singularity. A degree of the approached singularity is determined. The joint(s) approaching singularity are identified. Virtual joints are used to replace the identified joint(s) in a manipulator matrix to modify the manipulator matrix. The modified matrix is used to determine position changes for the linkage links. This method can provide software-based compensation for a wide range of machine configurations, without a priori knowledge of singularities for a given machine.
摘要翻译： 一种操作多轴机器的方法。 监视机器联动以通过联动关节朝向奇异点检测方法。 确定接近的奇异程度。 确定接近奇点的关节。 虚拟关节用于替换操纵器矩阵中的识别的关节以修改操纵器矩阵。 修改的矩阵用于确定链接链接的位置变化。 该方法可以为广泛的机器配置提供基于软件的补偿，而无需对给定机器的奇异点的先验知识。
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公开(公告)号：US09164503B2
公开(公告)日：2015-10-20
申请号：US13549092
申请日：2012-07-13
申请人： Jared Lee Bolin , Philip L. Freeman
发明人： Jared Lee Bolin , Philip L. Freeman
IPC分类号： G05B19/18 , G05B19/4093
CPC分类号： G05B19/4093 , G05B2219/34113 , G05B2219/35037 , G05B2219/35098 , Y02P90/265
摘要： Rough machining of a workpiece is performed by a numerically controlled machine tool using an adaptive toolpath technique. Material removal rate and machine efficiency are increased by forming a pre-roughing slot in the workpiece along medial axes, and machining the remainder of the workpiece using a toolpath that begins inside the pre-roughing slot and spirals outwardly in smooth curves.
摘要翻译： 通过数控机床使用自适应刀具路径技术对工件进行粗加工。 通过沿着中间轴在工件中形成预粗加工槽，并且使用在预粗加工槽内开始并以平滑曲线向外螺旋的刀具路径加工其余工件来提高材料去除速率和机器效率。
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公开(公告)号：US20140018953A1
公开(公告)日：2014-01-16
申请号：US13549092
申请日：2012-07-13
申请人： Jared Lee Bolin , Philip L. Freeman
发明人： Jared Lee Bolin , Philip L. Freeman
IPC分类号： G05B19/18
CPC分类号： G05B19/4093 , G05B2219/34113 , G05B2219/35037 , G05B2219/35098 , Y02P90/265
摘要： Rough machining of a workpiece is performed by a numerically controlled machine tool using an adaptive toolpath technique. Material removal rate and machine efficiency are increased by forming a pre-roughing slot in the workpiece along medial axes, and machining the remainder of the workpiece using a toolpath that begins inside the pre-roughing slot and spirals outwardly in smooth curves.
摘要翻译： 通过数控机床使用自适应刀具路径技术对工件进行粗加工。 通过沿着中间轴在工件中形成预粗加工槽，并且使用在预粗加工槽内开始并以平滑曲线向外螺旋的刀具路径加工其余工件来提高材料去除速率和机器效率。
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9.发明申请Method and Apparatus for Localizing and Mapping the Position of a Set of Points on a Digital Model 审中-公开用于定位和映射数字模型上的一组点的位置的方法和装置公开(公告)号：US20100042382A1
公开(公告)日：2010-02-18
申请号：US12603276
申请日：2009-10-21
CPC分类号： G06T7/0006 , G06T7/75 , G06T2207/30164
摘要： A computer implemented method, apparatus and computer usable program product for mapping a position of a physical point on a digital model. The method comprises receiving sensor data for the physical point from a sensor unit and correlating a position of the physical point to the digital model. The computer implemented method calculates an alignment probability for the correlated position and then compares the calculated value to a stored threshold value. If the alignment probability for the correlated position does exceed the predetermined threshold probability, an aligned position is formed. An aligned position of the physical point is stored relative to the digital model, responsive to a store map location command.
摘要翻译： 一种用于映射数字模型上的物理点的位置的计算机实现的方法，装置和计算机可用程序产品。 该方法包括从传感器单元接收物理点的传感器数据，并将物理点与数字模型的位置相关联。 计算机实现的方法计算相关位置的对准概率，然后将计算的值与存储的阈值进行比较。 如果相关位置的对准概率超过预定阈值概率，则形成对准位置。 响应于存储地图位置命令，相对于数字模型存储物理点的对准位置。
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公开(公告)号：US07016052B2
公开(公告)日：2006-03-21
申请号：US09966987
申请日：2001-09-28
CPC分类号： G01B11/026
摘要： The apparatus and method of the present invention provide a quick, simple and accurate manner in which to measure the dimensions or characteristics of a hole without contacting the hole. The apparatus and method of the present invention also automatically detect different materials defining the hole and, therefore, the location of the interface where the materials meet. To measure the characteristics of the hole, the apparatus and method measure the intensities of the light reflected off the hole wall. In addition, the light directed toward the hole wall by the optical fiber may be of the type, such as collimated or focused, to provide distinct reflections that are received and measured by the optical receiver to supply accurate measurements of the hole characteristics.
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