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公开(公告)号：US09862097B2
公开(公告)日：2018-01-09
申请号：US14736343
申请日：2015-06-11
Applicant: RECOGNITION ROBOTICS, INC. , ZAGAR INC.
Inventor： Simon Melikian , Jeremy Hughes , Brian Zagar
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.
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公开(公告)号：US20150273694A1
公开(公告)日：2015-10-01
申请号：US14736343
申请日：2015-06-11
Applicant: RECOGNITION ROBOTICS, INC. , ZAGAR INC.
Inventor： Simon Melikian , Jeremy Hughes , Brian Zagar
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。
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公开(公告)号：US09086271B2
公开(公告)日：2015-07-21
申请号：US13673256
申请日：2012-11-09
Applicant: RECOGNITION ROBOTICS, INC. , ZAGAR INC.
Inventor： Simon Melikian , Jeremy Hughes , Brian Zagar
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。
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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
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。
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公开(公告)号：US09885562B2
公开(公告)日：2018-02-06
申请号：US14791558
申请日：2015-07-06
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian
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.
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Patent Agency Ranking
公开(公告)号：US20170353682A1
公开(公告)日：2017-12-07
申请号：US15173011
申请日：2016-06-03
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian
CPC classification number: H04N5/372 , G02B3/14 , G06T7/0069 , G06T7/521 , G06T7/571 , G06T2207/10028 , G06T2207/10148 , G06T2207/20024 , H04N5/225
Abstract: A system for generating a depth map for an object in a three-dimensional (3D) scene includes an image capture sensor and a processor. The image capture sensor is configured to capture a plurality of images of the object at a plurality of different focal planes. The processor is configured to calculate a plurality of variance values for a plurality of image locations for each image captured by the image capture sensor. The processor is also configured to determine a peak variance value for the plurality of image locations based on the calculated variance values associated with the same image location for each of the plurality of images of the object at the plurality of different focal planes. The processor is also configured to generate the depth map for the object based on the determined peak variance value for each image location and the plurality of different focal planes.
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公开(公告)号：US20150354946A1
公开(公告)日：2015-12-10
申请号：US14299020
申请日：2014-06-09
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian
IPC: G01B11/275
CPC classification number: G01B11/2755 , G01B2210/14 , G01B2210/22 , G01B2210/26
Abstract: A system for measuring wheel alignment includes at least one camera and at least one processor in communication with the camera. The camera captures an image of a test wheel. The processor processes the captured image to measure the wheel alignment.
Abstract translation: 用于测量轮对准的系统包括至少一个照相机和与相机通信的至少一个处理器。 相机拍摄测试轮的图像。 处理器处理捕获的图像以测量轮对齐。
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公开(公告)号：US09702694B2
公开(公告)日：2017-07-11
申请号：US14299020
申请日：2014-06-09
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian
IPC: G01B11/26 , G01B11/275
CPC classification number: G01B11/2755 , G01B2210/14 , G01B2210/22 , G01B2210/26
Abstract: A system for measuring wheel alignment includes at least one camera and at least one processor in communication with the camera. The camera captures an image of a test wheel. The processor processes the captured image to measure the wheel alignment.
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公开(公告)号：US10097777B2
公开(公告)日：2018-10-09
申请号：US15173011
申请日：2016-06-03
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian
Abstract: A system for generating a depth map for an object in a three-dimensional (3D) scene includes an image capture sensor and a processor. The image capture sensor is configured to capture a plurality of images of the object at a plurality of different focal planes. The processor is configured to calculate a plurality of variance values for a plurality of image locations for each image captured by the image capture sensor. The processor is also configured to determine a peak variance value for the plurality of image locations based on the calculated variance values associated with the same image location for each of the plurality of images of the object at the plurality of different focal planes. The processor is also configured to generate the depth map for the object based on the determined peak variance value for each image location and the plurality of different focal planes.
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公开(公告)号：US09990685B2
公开(公告)日：2018-06-05
申请号：US15075361
申请日：2016-03-21
Applicant: Recognition Robotics, Inc.
Inventor： Simon Melikian , Stefano Cristiano
CPC classification number: G06T1/0014 , B25J9/1687 , G05B2219/37561 , G05B2219/40053 , G05B2219/45063 , G06K9/3241 , G06N99/005 , G06T7/344 , H04N5/23229
Abstract: An automated guidance system for a coordinated movement machine includes a camera and a processor. The camera is mounted to a movable component of the coordinated movement machine. The processor is configured to visually recognize individual workpieces among a plurality of similarly shaped workpieces using a program running on the processor. The processor is further configured to determine x, y and z and Rx, Ry and Rz of the movable component with respect to each recognized workpiece among the plurality of recognized workpieces, and to move the movable component of the coordinated movement machine after determining x, y and z and Rx, Ry and Rz of the movable component.
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