公开(公告)号：WO9928798A3

公开(公告)日：1999-10-14

申请号：PCT/CA9801117

申请日：1998-12-02

Applicant: LACENT TECHNOLOGIES INC

Inventor： SAWATZKY BRIAN D ,  ANDREWS RANDALL G ,  WANT CHRIS J

IPC: B23K26/10 ,  G05B19/416

CPC classification number: B23K26/10 ,  G05B19/416 ,  G05B2219/37175 ,  G05B2219/40293 ,  G05B2219/42175 ,  G05B2219/45165 ,  G05B2219/49369 ,  Y10S83/94 ,  Y10T83/162

Abstract: Method and positioner apparatus are provided for minimizing the time required to move a tool (4) along a continuous path such as over material conveyed continuously thereunder. The continuous path is discretized into geometric moves, pairs of which are preferably joined to minimize positioner stop and go. Ranges of velocities are analyzed for each discrete move and are adjusted to overlap for fitting a continuous velocity curve therethrough. Optimizing of the velocity ranges for maximum tool acceleration and velocity results in a time-optimized velocity profile for the tool. Velocity profiles for each discrete move are further optimized to maximize acceleration and deceleration resulting in the most time spent at maximum velocity. Throughout, the method is cognizant of the effects of time and displacement being measured in integer increments. Rounding is appropriately performed and move parameters are adjusted appropriately. Apparatus (2) capable of responding to such optimized control comprises parallel X-rails (X1, X2) and a gantry (3), each end of the gantry being independently driven. Bearings permit the gantry to pivot, resulting translation being accepted by another bearing at one of the ends. Optical encoders (6a, b, c) on each X-rail and the gantry provide precision positional feedback.

Abstract translation: 提供了方法和定位器装置，用于最小化沿着连续路径移动工具（4）所需的时间，例如连续输送的材料。 连续路径被离散成几何移动，其中一对优选地被连接以最小化定位器停止并去除。 对于每个离散的移动分析速度范围，并且被调整为重叠以拟合连续的速度曲线。 优化最大刀具加速度和速度的速度范围可以为刀具提供时间优化的速度曲线。 进一步优化每个离散运动的速度曲线，以最大限度地加速和减速，最大限度地节省时间。 在整个过程中，该方法认识到以整数增量测量的时间和位移的影响。 适当地执行舍入，并适当地调整移动参数。 能够对这种优化控制进行响应的装置（2）包括平行X导轨（X1，X2）和台架（3），机架的每端独立地被驱动。 轴承允许龙门架枢轴转动，从而在另一个轴承的另一端承受转换。 每个X导轨和龙门架上的光学编码器（6a，b，c）提供精确的位置反馈。

公开(公告)号：WO2003054646A3

公开(公告)日：2003-07-03

申请号：PCT/CA2002/001901

申请日：2002-12-10

Applicant: LACENT TECHNOLOGIES INC.

Inventor： ANDREWS, Randall, G. ,  BOURKE, Mary, M. ,  SAWATZKY, Brian, D. ,  REIF, Andrew, Z. ,  JOHNSTON, Brad ,  MAH, Cedar

IPC: G05B19/408

Abstract: Method and apparatus enable cutting out shapes (S) preset in moving sheet material (10) by locating coordinates of one or more fiducials (F,F2...) in the sheet material (10) with a vision system (12). The fiducials (F,F2...) correspond to a pattern (P) for the preset shape (S). A cutting system (11) superimposes the pattern (P) relative to the located one or more fiducials (F,F2...) for cutting out the preset shape (S) while the vision system (12) is concurrently locating subsequent one or more fiducials (F,F2...) in the moving sheet material (10). The concurrent processes of cutting and locating subsequent fiducials (F.F2...) are repeated substantially continuously. Preferably, using two or more fiducials (F,F2...), distortion is detected and the pattern (P) can be remapped before cutting for accurate superposition of the pattern (P) and distorted preset shape (S).

公开(公告)号：WO03054646A2

公开(公告)日：2003-07-03

申请号：PCT/CA0201901

申请日：2002-12-10

Applicant: LACENT TECHNOLOGIES INC

Inventor： ANDREWS RANDALL G ,  BOURKE MARY M ,  SAWATZKY BRIAN D ,  REIF ANDREW Z ,  JOHNSTON BRAD ,  MAH CEDAR

IPC: B23K26/00 ,  B23K26/02 ,  B23K26/03 ,  B23K26/38 ,  B23Q15/013 ,  B23Q35/128 ,  G05B19/19 ,  G05B19/4093 ,  G05B19/42

CPC classification number: G05B19/4205 ,  B23Q15/013 ,  B23Q35/128 ,  G05B2219/35162 ,  G05B2219/36412 ,  G05B2219/37554 ,  G05B2219/45044 ,  G05B2219/49366 ,  G05B2219/49372

Abstract: Method and apparatus enable cutting out shapes (S) preset in moving sheet material (10) by locating coordinates of one or more fiducials (F,F2...) in the sheet material (10) with a vision system (12). The fiducials (F,F2...) correspond to a pattern (P) for the preset shape (S). A cutting system (11) superimposes the pattern (P) relative to the located one or more fiducials (F,F2...) for cutting out the preset shape (S) while the vision system (12) is concurrently locating subsequent one or more fiducials (F,F2...) in the moving sheet material (10). The concurrent processes of cutting and locating subsequent fiducials (F.F2...) are repeated substantially continuously. Preferably, using two or more fiducials (F,F2...), distortion is detected and the pattern (P) can be remapped before cutting for accurate superposition of the pattern (P) and distorted preset shape (S).

Abstract translation: 方法和装置能够通过用视觉系统（12）将片材（10）中的一个或多个基准（F，F2 ...）的坐标定位在移动的片材（10）中预定的形状（S）。 基准（F，F2 ...）对应于预设形状（S）的图案（P）。 切割系统（11）相对于所定位的一个或多个基准（F，F2 ...）叠加图案（P），用于切割预设形状（S），同时视觉系统（12）同时定位随后的一个或 移动片材（10）中的更多基准（F，F2 ...）。 基本上连续地重复切割和定位后续基准（F.F2 ...）的并发过程。 优选地，使用两个或更多个基准（F，F2 ...），检测到失真，并且可以在切割之前重新映射图案（P）以精确地叠加图案（P）和扭曲的预设形状（S）。