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1. 发明授权

CN1183427C 移动机器人及其控制系统的改进失效
公开(公告)号：CN1183427C
公开(公告)日：2005-01-05
申请号：CN98813347.4
申请日：1998-11-27
申请人：阳光及自动化公司
发明人： A·科伦斯
IPC分类号： G05D1/02 , B25J19/00 , A47L9/00
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215
摘要：一种相对固定站点导引和定位自动移动机器人的系统，它利用至少一个由固定站点发射的方向性红外光束，移动机器人有一个与机器人中的微处理器相连接的检测红外发射的方向性检测系统，机器人在工作表面上按随机方式移动，微处理器具有一种算法，该算法能够通过机器人朝向所说红外光束发射方向的移动来控制机器人返回固定站点；检测系统位于机器人的旋转中心的构架上，沿机器人运动方向定向，基于对窄光束的检测，实现在固定站点中的精确定位；根据所述算法，当机器人探测到的红外照射强度高于一定限值时开始返回充电的固定站点，并且当电池的负荷状态低于给定水平时开始返回充电的固定站点。本发明还提供了采用一个微处理器的自动移动机器人。

2. 发明公开

CN1284177A 移动机器人及其控制系统的改进失效
公开(公告)号：CN1284177A
公开(公告)日：2001-02-14
申请号：CN98813347.4
申请日：1998-11-27
申请人：阳光及自动化公司
发明人： A·科伦斯
IPC分类号： G05D1/02 , B25J19/00 , A47L9/00
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215
摘要：本发明与包含充电电池的自动移动机器人中相对固定充电站的导引和定位系统有关。该系统通过固定站点发射至少一个方向性红外光束、移动机器人配有检测红外发射的方向系统工作,方向系统与所说机器人中的微处理器相连接。机器人在工作表面上按大致随机方式移动,微处理器包含一个通过使机器人移向所说红外光束方向而控制其返回固定站点的算法。在最小工作时间后并且当移动机器人检测到的强度大于某个门槛值时,微处理器中的算法使其开始返回固定充电站,而不论电池电荷的状态如何,所说的门槛值随工作时段的延长和/或电池电荷状态低于某个水平而降低。可用多个沿不同方向发射的红外光束来使机器人返回充电站。

3. 发明授权

US07003892B2 Spatial coordinate-based method for identifying work pieces 有权
标题翻译：用于识别工件的基于空间坐标的方法
公开(公告)号：US07003892B2
公开(公告)日：2006-02-28
申请号：US10417420
申请日：2003-04-15
申请人： Homer L. Eaton , Douglas P. Schueneman
发明人： Homer L. Eaton , Douglas P. Schueneman
IPC分类号： G01B5/004
CPC分类号： G05B19/128 , G01B21/045 , G05B2219/32174 , G05B2219/37405 , G05B2219/40543 , G05B2219/40621 , G05B2219/45059
摘要： In a method for identifying work pieces based on spatial coordinates. Each of a set of parts to be processed using a multi-axis, articulated spatial measurement arm, are marked with three points defining a distinctive triangle. In a data base, the side lengths of each distinctive triangle is referenced to the part it identifies and to related processing parameters. Before processing a part, the probe of the measurement arm is successively positioned on each of the marked points. Data processing equipment associated with the arm retrieves from the data base the identification of the part and the related parameters.
摘要翻译：在基于空间坐标识别工件的方法中。使用多轴关节空间测量臂处理的一组零件中的每一个标记有三个点，其定义了独特的三角形。在数据库中，每个特征三角形的边长参考其标识的部分和相关的处理参数。在处理零件之前，将测量臂的探头连续定位在每个标记点上。与臂相关的数据处理设备从数据库中检索部件的标识和相关参数。

4. 发明申请

US20020120364A1 Mobile robots and their control system 失效
标题翻译：移动机器人及其控制系统
公开(公告)号：US20020120364A1
公开(公告)日：2002-08-29
申请号：US10085076
申请日：2002-03-01
发明人： Andre Colens
IPC分类号： G06F019/00
CPC分类号： A47L11/4005 , A47L11/4011 , A47L11/4061 , A47L2201/022 , A47L2201/024 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0225 , G05D1/0242 , G05D2201/0215 , Y10S706/905
摘要： System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2null) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2null), characterized in that the infra-red beam (2null) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection of the narrow beam (2null).
摘要翻译：利用由固定站发射的至少一个定向红外光束（2'）的自主移动机器人（7）相对于固定站（1）的引导和定位系统，该移动机器人设置有定向系统检测（10a，10b）的红外发射连接到所述机器人中结合的微型计算机，所述机器人以基本随机的方式在工作表面上移动，所述微计算机（44）包括能够控制返回到固定站（1）通过所述机器人（7）朝向所述红外光束（2'）的发射方向移位，其特征在于，所述红外光束（2'）是窄的定向光束，并且所述系统检测（10a，10b）位于机器人（7）的旋转中心的框架上，其位于机器人的移动方向上，通过机器的旋转来执行固定站（1）中的精确定位根据基于的算法围绕垂直轴检测窄梁（2'）。

5. 发明授权

US06389329B1 Mobile robots and their control system 有权
标题翻译：移动机器人及其控制系统
公开(公告)号：US06389329B1
公开(公告)日：2002-05-14
申请号：US09555207
申请日：2000-05-26
申请人： Andre Colens
发明人： Andre Colens
IPC分类号： G05B1500
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215
摘要： System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection of the narrow beam (2′).
摘要翻译：利用由固定站发射的至少一个定向红外光束（2'）的自主移动机器人（7）相对于固定站（1）的引导和定位系统，该移动机器人设置有定向系统检测（10a，10b）的红外发射连接到机器人中结合的微型计算机，机器人以基本随机的方式在工作表面上移动，微计算机（44）包括能够控制返回固定站的算法（ 1）通过使所述机器人（7）朝向所述红外线束（2'）的发射方向移位，其特征在于，所述红外线束（2'）是窄方向性束，并且所述检测系统（10a，10b）位于机器人（7）的旋转中心的框架上，在机器人的运动方向上定向，通过机器周围的旋转来执行固定站（1）中的精确定位根据基于detec的算法的垂直轴窄梁（2'）。

6. 发明授权

US5280436A Method for measuring three-dimensional position of object to be captured and method for capturing the object 失效
标题翻译：用于测量待捕获对象的三维位置的方法和用于捕获对象的方法
公开(公告)号：US5280436A
公开(公告)日：1994-01-18
申请号：US686390
申请日：1991-04-17
申请人： Hitoshi Kubota , Manabu Yamane , Takashi Anezaki , Hiroyuki Inoue , Tomohiro Maruo
发明人： Hitoshi Kubota , Manabu Yamane , Takashi Anezaki , Hiroyuki Inoue , Tomohiro Maruo
IPC分类号： G01B11/00 , B25J9/16 , G01S17/46 , G01S17/89 , H05K13/04 , H05K13/08 , G06F15/20
CPC分类号： G01S17/46 , B25J9/1697 , G01S17/89 , G05B2219/36404 , G05B2219/37275 , G05B2219/40621 , G05B2219/45034
摘要： A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system. This method can be used to locate an electric adjustment position of an electronic component and to move the hand of an industrial robot carrying an electric adjustment member to the electronic component for adjusting the electronic component in the electric adjustment position.
摘要翻译：一种用于测量待捕获对象的三维位置的方法。本发明提供了一种激光测量单元，其具有面对物体的图像识别摄像机，第一和第二激光发射源相对于视觉坐标系的垂直轴分别从倾斜方向照射到物体上的横向狭缝光并照射垂直狭缝相对于视觉坐标系的横轴将光照射到物体上，在物体的垂直轴上的一个狭缝图像和物体的横向轴上的一个狭缝图像以及之前形成的垂直和横向轴上的一个狭缝图像并且在激光测量单元移动之后，将相机相对于物体的相机光轴的方向上的预定量取入照相机，并且根据预定移动距离量与偏差之间的关系来计算三维位置在坐标系的视觉坐标上的狭缝图像。该方法可以用于定位电子部件的电动调节位置，并且将携带电动调节部件的工业机器人的手移动到用于调整电气调节位置的电子部件的电子部件。

7. 发明授权

US06532404B2 Mobile robots and their control system 失效
公开(公告)号：US06532404B2
公开(公告)日：2003-03-11
申请号：US10085076
申请日：2002-03-01
申请人： André Colens
发明人： André Colens
IPC分类号： G05B1500
CPC分类号： A47L11/4005 , A47L11/4011 , A47L11/4061 , A47L2201/022 , A47L2201/024 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0225 , G05D1/0242 , G05D2201/0215 , Y10S706/905
摘要： System of guidance and positioning relative to a fixed station (1) for an autonomous mobile robot (7) utilizing at least a directional infra-red beam (2′) emitted by the fixed station, the mobile robot being provided with a directional system of detection (10a, 10b) of infra-red emission connected to a microcomputer incorporated in the said robot, the robot moving on a work surface in an essentially random manner, the microcomputer (44) including an algorithm able to control the return to fixed station (1) by displacement of the robot (7) towards the direction of emission of said infra-red beam (2′), characterized in that the infra-red beam (2′) is a narrow directional beam and in that the system of detection (10a, 10b) is located on a frame at the center of rotation of the robot (7), oriented in the direction of movement of the robot, precise positioning in the fixed station (1) being carried out by rotation of the machine around a vertical axis according to an algorithm based on the detection of the narrow beam (2′).

8. 发明授权

US6070109A Robot calibration system 失效
标题翻译：机器人校准系统
公开(公告)号：US6070109A
公开(公告)日：2000-05-30
申请号：US37446
申请日：1998-03-10
申请人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
发明人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
IPC分类号： B25J9/16 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1692 , G05B2219/39009 , G05B2219/40621
摘要： A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.
摘要翻译：机器人校准系统包括校准传感器，其提供关于何时相对于机器人基座保持固定的第一参考点与位于机器人手臂上的第二参考点的固定距离的指示。机器人臂移动多个取向，并且每当实现两个参考点之间的固定距离时，确定机器人关节位置信息。优选的校准传感器包括在两个参考点之间延伸的弦线，并且每当由于机器人手臂的取向引起弦线拉紧时激活信号发生器。生成的信号表示两个参考点被分开固定距离。然后，所确定的机器人关节位置用于确定根据特定情况的需要而变化的校准因子。示例校准因子可用于校正机器人运动信息中的错误，定位工作单元参考系和定位刀具中心点参考系。

9. 发明授权

EP1681111B1 Verfahren zum Betrieb einer Fertigungseinrichtung 有权
标题翻译：操作生产设备的方法
公开(公告)号：EP1681111B1
公开(公告)日：2008-07-23
申请号：EP06005046.5
申请日：2003-02-27
申请人： Trumpf Maschinen Austria GmbH & CO. KG.
发明人： Strasser, Hagen , Theis, Helmut , Bongardt, Thomas , Wünsch, Georg
IPC分类号： B21D43/10 , B21D43/26 , B21D5/02 , B21D5/00 , B21D43/00
CPC分类号： G05B19/4015 , B21D5/002 , B21D5/02 , B21D43/003 , B25J9/1692 , G05B2219/37555 , G05B2219/37571 , G05B2219/39045 , G05B2219/40054 , G05B2219/40527 , G05B2219/40584 , G05B2219/40621 , G05B2219/45143 , G05B2219/50275

10. 发明申请

US20190063907A1 MEASUREMENT SYSTEM HAVING A COOPERATIVE ROBOT AND THREE-DIMENSIONAL IMAGER 审中-公开
公开(公告)号：US20190063907A1
公开(公告)日：2019-02-28
申请号：US16001374
申请日：2018-06-06
申请人： FARO Technologies, Inc.
发明人： Markus Grau
IPC分类号： G01B11/25 , G01V8/20 , G06T7/55 , H04N5/247 , G06T7/521 , B25J9/16
CPC分类号： G01B11/2545 , B25J9/1697 , G01B5/0007 , G01B5/0009 , G01B11/026 , G01B11/2518 , G01V8/20 , G05B2219/40202 , G05B2219/40613 , G05B2219/40621 , G06T7/521 , G06T7/55 , G06T2207/10028 , H04N5/247 , H04N5/3572 , Y10S901/47
摘要： A measurement system and a method of measuring an object is provided. The system includes a measurement platform having a planar surface. At least two optical sensors are coupled to the measurement platform that emit light in a plane and determines a distance to an object based on a reflection of the light. A linear rail is coupled to the measurement platform. A cooperative robot is coupled to move along the linear rail. A 3D measuring system is coupled to the end of the robot. A controller coupled to the at least two optical sensors, the robot, and the 3D measuring system, the controller changing the speed of the robot and the 3D measuring system to less than a threshold in response to a distance measured by at least one of the at least two optical sensors to a human operator being less than a first distance threshold.

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