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    Work piece tracking system and method
    2.
    发明授权
    Work piece tracking system and method 有权
    工件跟踪系统和方法

    公开(公告)号：US08144193B2

    公开(公告)日：2012-03-27

    申请号：US12367967

    申请日：2009-02-09

    申请人： Simon Melikian

    发明人： Simon Melikian

    IPC分类号： H04N7/18

    CPC分类号： B23K9/32 ,  B23K31/125 ,  G05B19/41875 ,  G05B2219/37074 ,  G05B2219/37212 ,  G05B2219/37559 ,  G05B2219/42337 ,  G05B2219/45135 ,  G06T7/74 ,  G06T2207/30164 ,  G06T2207/30204

    摘要： A system and method of visual monitoring of a work implement (e.g., a welding torch) while a task is being performed (e.g., forming a welding joint) to train workers (e.g., apprentices, inexperienced workers) in proper welding technique, for example) and/or to evaluate the worker's use of a particular work implement (e.g., to determine if the welding torch was held in a desired relationship to the items being welded together, determine if the welding torch formed the joint at the current speed, etc.). In general, one or more cameras may acquire images of a target secured to and/or formed on the work implement. The images may be analyzed to provide feedback to the user, to be evaluated for weld integrity purposes; and/or may be used to compare the performance of a task (e.g., forming a welding joint) with a database of one or more profiles made by experienced and/or expert craftsmen.

    摘要翻译： 例如，在正在执行任务（例如，形成焊接接头）的情况下，对工件（例如，焊炬）进行视觉监控的系统和方法，以适当的焊接技术来训练工人（例如学徒，没有经验的工人） ）和/或评估工人对特定工作工具的使用（例如，确定焊炬是否与焊接在一起的物品保持期望的关系，确定焊炬是否以当前速度形成接头等 。）。 通常，一个或多个相机可以获取固定到和/或形成在作业工具上的目标的图像。 可以分析图像以向用户提供反馈，以评估焊接完整性目的; 和/或可用于将任务（例如，形成焊接接头）的性能与由有经验的和/或专家技术人员制成的一个或多个简档的数据库进行比较。

    System and a method for motion tracking using a calibration unit
    3.
    发明授权
    System and a method for motion tracking using a calibration unit 有权
    使用校准单元进行运动跟踪的系统和方法

    公开(公告)号：US07725279B2

    公开(公告)日：2010-05-25

    申请号：US12049019

    申请日：2008-03-14

    申请人： Hendrik Johannes Luinge ,  Daniel Roetenberg ,  Per Johan Slycke

    发明人： Hendrik Johannes Luinge ,  Daniel Roetenberg ,  Per Johan Slycke

    IPC分类号： G01C25/00

    CPC分类号： A61B5/1114 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/1122 ,  A61B5/1126 ,  A61B5/4528 ,  A61B5/6804 ,  A61B5/7207 ,  A61B2560/0223 ,  A61B2562/0219 ,  A61B2562/046 ,  B25J9/1694 ,  G05B2219/37388 ,  G05B2219/42337 ,  G06F3/011

    摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.

    摘要翻译： 本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括 定向测量单元（S1，S3 ... SN），用于测量与目标部分的至少取向有关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系并且具有至少取向参数; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值 基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。 本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。

    Tagless tracking
    4.
    发明授权
    Tagless tracking 有权

    公开(公告)号：US09766616B2

    公开(公告)日：2017-09-19

    申请号：US14765529

    申请日：2014-01-29

    申请人： Ubisense Limited

    发明人： Peter Joseph Steggles

    IPC分类号： G05B19/418 ,  G06Q10/06 ,  G06Q10/08

    CPC分类号： G05B19/4183 ,  G05B2219/42337 ,  G06Q10/06 ,  G06Q10/0833

    摘要： A method of identifying an article on a production line, the production line comprising a plurality of articles along its length, the relative positions of the plurality of articles along the length of the production line being predetermined, the method comprising: receiving location information of an object which executes the same motion with respect to at least a first subset of the plurality of articles on the production line; for at least a second subset of the plurality of articles, determining from the location information the location of the object at a predetermined interaction between the object and the article; and identifying an article of the plurality of articles at a specified location of the object in dependence on (i) a known location of any one article of the plurality of articles at any one time, and (ii) the locations of the object at the predetermined interactions between the object and the at least second subset of the plurality of articles.

    METHOD FOR ESTIMATING MOVEMENT OF A POLY-ARTICULATED MASS OBJECT
    5.
    发明申请
    METHOD FOR ESTIMATING MOVEMENT OF A POLY-ARTICULATED MASS OBJECT 审中-公开
    估计聚合物质运动的方法

    公开(公告)号：US20150336273A1

    公开(公告)日：2015-11-26

    申请号：US14758920

    申请日：2013-12-10

    申请人： MOVEA ,  COMMISSARIAT A L' ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES

    发明人： Boris MORINIERE ,  Claude Andriot

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1694 ,  G05B2219/37388 ,  G05B2219/42337

    摘要： Movement of a poly-articulated object, having a plurality of segments linked by at least one articulation, is estimated. Inertial measurements are obtained from capture modules that are fixed relative to respective segments, each module having an accelerometer and a gyrometer, with the measurements being expressed in a measurement reference frame that is fixed relative to the respective segment. The measurements are used to determine at least one stress vector external to the object so as to control a physical model of this object representing the object. Kinematic quantities associated with the segments of the object are then estimated using fundamental dynamics principles using the computed stress vector(s).

    摘要翻译： 估计具有通过至少一个关节连接的多个段的多关节物体的运动。 从相对于相应段固定的捕获模块获得惯性测量，每个模块具有加速度计和陀螺仪，测量值在相对于相应段固定的测量参考系中表示。 测量用于确定对象外部的至少一个应力矢量，以便控制表示对象的该对象的物理模型。 然后使用所计算的应力向量使用基本动力学原理估计与对象的段相关联的运动量。

    Motion Tracking System
    8.
    发明申请
    Motion Tracking System 有权
    运动跟踪系统

    公开(公告)号：US20080285805A1

    公开(公告)日：2008-11-20

    申请号：US11748963

    申请日：2007-05-15

    申请人： Henk J. Luinge ,  Daniel Roetenberg ,  Per J. Slycke

    发明人： Henk J. Luinge ,  Daniel Roetenberg ,  Per J. Slycke

    IPC分类号： A61B5/103

    CPC分类号： A61B5/1114 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/1122 ,  A61B5/1126 ,  A61B5/4528 ,  A61B5/6804 ,  A61B5/7207 ,  A61B2560/0223 ,  A61B2562/0219 ,  A61B2562/046 ,  B25J9/1694 ,  G05B2219/37388 ,  G05B2219/42337 ,  G06F3/011

    摘要： A system is provided for capturing motion of a moving object via a plurality of motion sensor modules placed on various body segments. The sensor modules capture both 3D position and 3D orientation data relating to their respective body segments, thereby gathering motion data having six degrees of freedom with respect to a coordinate system not fixed to the body. Each body sensor collects 3D inertial sensor data and, optionally, magnetic field data. In embodiments, either DSP circuitry within the sensor modules or an external computing device, processes the sensor data to arrive at orientation and position estimates by using an estimation algorithm, such as a Kalman filter or a particle filter. The processing includes biomechanical model constraints that allow flexibility in the joints and provide characteristics for various joint types. To improve estimation accuracy, the system may be integrated with various types of aiding sensors.

    摘要翻译： 提供了一种用于通过放置在各种身体段上的多个运动传感器模块捕获运动物体的运动的系统。 传感器模块捕获与它们各自的主体段相关的3D位置和3D取向数据，从而收集相对于不固定到身体的坐标系具有六个自由度的运动数据。 每个身体传感器收集3D惯性传感器数据和可选的磁场数据。 在实施例中，传感器模块内的DSP电路或外部计算设备通过使用诸如卡尔曼滤波器或粒子滤波器之类的估计算法来处理传感器数据以得到定位和位置估计。 该处理包括生物力学模型约束，其允许关节中的灵活性并且为各种关节类型提供特征。 为了提高估计精度，该系统可以与各种类型的辅助传感器集成。

    Sytem and a Method for Motion Tracking Using a Calibration Unit
    9.
    发明申请
    Sytem and a Method for Motion Tracking Using a Calibration Unit 有权
    使用校准单元进行运动跟踪的方法和方法

    公开(公告)号：US20080262772A1

    公开(公告)日：2008-10-23

    申请号：US12049019

    申请日：2008-03-14

    申请人： Hendrik Johannes Luinge ,  Daniel Roetenberg ,  Per Johan Slycke

    发明人： Hendrik Johannes Luinge ,  Daniel Roetenberg ,  Per Johan Slycke

    IPC分类号： G01C25/00

    CPC分类号： A61B5/1114 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/1122 ,  A61B5/1126 ,  A61B5/4528 ,  A61B5/6804 ,  A61B5/7207 ,  A61B2560/0223 ,  A61B2562/0219 ,  A61B2562/046 ,  B25J9/1694 ,  G05B2219/37388 ,  G05B2219/42337 ,  G06F3/011

    摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.

    摘要翻译： 本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括 定向测量单元（S 1，S 3，...，SN），用于测量至少与物体部分取向相关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系，并具有至少取向参数 ; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值 基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。 本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。