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1. 发明申请

US20150354946A1 WHEEL TOE AND CAMBER MEASUREMENT SYSTEM 有权
标题翻译：车轮和车胎测量系统
公开(公告)号：US20150354946A1
公开(公告)日：2015-12-10
申请号：US14299020
申请日：2014-06-09
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian
IPC分类号： G01B11/275
CPC分类号： G01B11/2755 , G01B2210/14 , G01B2210/22 , G01B2210/26
摘要： 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.
摘要翻译：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。

2. 发明授权

US09702694B2 Wheel toe and camber measurement system 有权
公开(公告)号：US09702694B2
公开(公告)日：2017-07-11
申请号：US14299020
申请日：2014-06-09
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian
IPC分类号： G01B11/26 , G01B11/275
CPC分类号： G01B11/2755 , G01B2210/14 , G01B2210/22 , G01B2210/26
摘要： 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.

3. 发明申请

US20150273694A1 INDUSTRIAL ROBOT SYSTEM HAVING SENSOR ASSEMBLY 有权
标题翻译：具有传感器总成的工业机器人系统
公开(公告)号：US20150273694A1
公开(公告)日：2015-10-01
申请号：US14736343
申请日：2015-06-11
申请人： RECOGNITION ROBOTICS, INC. , ZAGAR INC.
发明人： Simon Melikian , Jeremy Hughes , Brian Zagar
IPC分类号： B25J9/16 , G05B19/04
CPC分类号： B25J9/1697 , B23B49/00 , B25J11/005 , B25J19/022 , G01B11/14 , G05B19/0405 , G05B2219/45059 , G05D15/00 , Y10S901/02 , Y10S901/41 , Y10S901/47
摘要： 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.
摘要翻译：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。

4. 发明授权

US09086271B2 Industrial robot system having sensor assembly 有权
标题翻译：具有传感器组件的工业机器人系统
公开(公告)号：US09086271B2
公开(公告)日：2015-07-21
申请号：US13673256
申请日：2012-11-09
申请人： RECOGNITION ROBOTICS, INC. , ZAGAR INC.
发明人： Simon Melikian , Jeremy Hughes , Brian Zagar
IPC分类号： G06F19/00 , G01B11/14 , B25J11/00 , B25J19/02 , G05D15/00
CPC分类号： B25J9/1697 , B23B49/00 , B25J11/005 , B25J19/022 , G01B11/14 , G05B19/0405 , G05B2219/45059 , G05D15/00 , Y10S901/02 , Y10S901/41 , Y10S901/47
摘要： 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.
摘要翻译：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。

5. 发明授权

US10097777B2 Depth map from multi-focal plane images 有权
公开(公告)号：US10097777B2
公开(公告)日：2018-10-09
申请号：US15173011
申请日：2016-06-03
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian
IPC分类号： H04N7/18 , H04N9/47 , H04N5/372 , G06T7/571 , G02B3/14 , G06T7/00 , H04N5/225 , G06T7/521
摘要： 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.

6. 发明授权

US09990685B2 Automated guidance system and method for a coordinated movement machine 有权
公开(公告)号：US09990685B2
公开(公告)日：2018-06-05
申请号：US15075361
申请日：2016-03-21
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian , Stefano Cristiano
IPC分类号： G06T1/00 , G06N99/00 , G06K9/32 , G06T7/33 , H04N5/232 , B25J9/16
CPC分类号： G06T1/0014 , B25J9/1687 , G05B2219/37561 , G05B2219/40053 , G05B2219/45063 , G06K9/3241 , G06N99/005 , G06T7/344 , H04N5/23229
摘要： 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.

7. 发明申请

US20170270631A1 AUTOMATED GUIDANCE SYSTEM AND METHOD FOR A COORDINATED MOVEMENT MACHINE 有权
公开(公告)号：US20170270631A1
公开(公告)日：2017-09-21
申请号：US15075361
申请日：2016-03-21
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian , Stefano Cristiano
IPC分类号： G06T1/00 , H04N5/232 , G06N99/00
CPC分类号： G06T1/0014 , B25J9/1687 , G05B2219/37561 , G05B2219/40053 , G05B2219/45063 , G06K9/3241 , G06N99/005 , G06T7/344 , H04N5/23229
摘要： 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.

8. 发明申请

US20170010088A1 MEASURING SYSTEM AND METHOD USING LIGHT SOURCE AND CYLINDRICAL MIRROR 有权
标题翻译：使用光源和圆柱镜的测量系统和方法
公开(公告)号：US20170010088A1
公开(公告)日：2017-01-12
申请号：US14791558
申请日：2015-07-06
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian
IPC分类号： G01B11/02 , B05C11/00 , G01N21/55 , G02B5/10
CPC分类号： G01B11/25 , B05C5/0216 , B05C11/1005 , G02B5/10
摘要： 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.
摘要翻译：测量系统包括圆柱形反射镜，光源，感光阵列和处理器。光源相对于圆柱形反射镜构造和定位，使得来自光源的光从圆柱形反射镜反射成物体表面上的圆弧。光敏阵列相对于圆柱形镜子定位以检测物体表面上的圆弧。处理器与光敏阵列通信，并且被配置为基于由感光阵列检测到的图像来检测圆弧中的断裂并测量施加到物体表面的物质。

9. 发明授权

US09019488B2 Wheel toe and camber measurement system 有权
标题翻译：轮趾和弯度测量系统
公开(公告)号：US09019488B2
公开(公告)日：2015-04-28
申请号：US13925022
申请日：2013-06-24
申请人： Recognition Robotics, Inc.
发明人： Simon Melikian
IPC分类号： G01B11/275
CPC分类号： G01B11/2755 , G01B2210/14
摘要： A method for measuring wheel alignment of a test wheel rotating about a z-axis using at least one camera and a processor includes obtaining a calibration point from a calibration image of a zero-offset wheel that is the same size as the test wheel and that rotates about the z-axis, obtaining at least one test image of the test wheel with the camera and a non-structured light source, and locating a measurement point in the test image. The measurement point coincides with a radius that the calibration point is offset from the z-axis and the angular displacement of the calibration point from the vertical diameter of the zero-offset wheel. The measurement point is further located based on a change of reflectivity between other points in the test image adjacent the measurement point.
摘要翻译：用于使用至少一个照相机和处理器来测量围绕z轴旋转的测试轮的轮对准的方法包括从与测试轮相同尺寸的零偏移轮的校准图像获得校准点，围绕z轴旋转，使用相机和非结构化光源获得测试轮的至少一个测试图像，并将测量点定位在测试图像中。测量点与校准点偏离z轴和校准点与零点偏移轮的垂直直径的角位移的半径重合。基于与测量点相邻的测试图像中的其它点之间的反射率的变化，进一步定位测量点。

10. 发明申请

US20140135989A1 INDUSTRIAL ROBOT SYSTEM HAVING SENSOR ASSEMBLY 有权
标题翻译：具有传感器总成的工业机器人系统
公开(公告)号：US20140135989A1
公开(公告)日：2014-05-15
申请号：US13673256
申请日：2012-11-09
申请人： RECOGNITION ROBOTICS, INC. , ZAGAR INC.
发明人： Simon Melikian , Jeremy Hughes , Brian Zagar
IPC分类号： G05D15/00 , G01B11/14
CPC分类号： B25J9/1697 , B23B49/00 , B25J11/005 , B25J19/022 , G01B11/14 , G05B19/0405 , G05B2219/45059 , G05D15/00 , Y10S901/02 , Y10S901/41 , Y10S901/47
摘要： 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.
摘要翻译：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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