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1. 发明授权

US6078846A Calibration and compensation of robot-based gauging system 失效
标题翻译：基于机器人的测量系统的校准和补偿
公开(公告)号：US6078846A
公开(公告)日：2000-06-20
申请号：US8711
申请日：1998-01-19
申请人： Dale R. Greer , Munsang Kim
发明人： Dale R. Greer , Munsang Kim
IPC分类号： B25J19/02 , G01B11/00 , G01B11/03 , G01B11/25 , G01B21/04 , G01S7/497 , G01S17/66 , G06F19/00 , G06G7/66
CPC分类号： B25J9/1692 , G01B11/002 , G01B11/2504 , G01B21/042 , G01S17/66 , G01S7/497
摘要： The non-contact sensor employs a structured light source that emits light in a predefined planar configuration and an optical receiver for reading reflected light produced by the structured light source within a predefined field of view. A tetrahedron target structure includes a three-dimensional framework that defines at least three non-collinear, non-coplanar structural lines each simultaneously visible to the sensor. A calibration system is coupled to the gauging system and the non-contact sensor for calibrating the gauging system by evaluating the geometric relationship of the structured light reflected from the structural lines of the target structure to determine the position and orientation of the target structure and then correlating the structural lines to the gauging system.
摘要翻译：非接触式传感器采用以预定平面配置发光的结构光源和用于在预定视场内读取由结构化光源产生的反射光的光接收器。四面体目标结构包括三维框架，其限定了至少三个非共线的非共面结构线，每个结构线同时对传感器可见。校准系统耦合到测量系统和非接触传感器，用于通过评估从目标结构的结构线反射的结构化光的几何关系来校准测量系统，以确定目标结构的位置和取向，然后将结构线与测量系统相关联。

2. 发明授权

US5748505A Method and apparatus for calibrating a noncontact gauging sensor with respect to an external coordinate system 失效
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US5748505A
公开(公告)日：1998-05-05
申请号：US597281
申请日：1996-02-06
申请人： Dale R. Greer
发明人： Dale R. Greer
IPC分类号： G01B11/00 , G01B11/03 , G01B11/25 , G01B21/04 , G01S7/497 , G01S17/66 , G01C3/02
CPC分类号： G01B11/002 , G01B11/2504 , G01B21/042 , G01S17/66 , G01S7/497
摘要： The sensor array is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-emitting reference indicia. The sensor array encompasses a wide view calibration field and provides data indicating the spatial position of light sources placed within the calibration field. A tetrahedron framework with light-emitting diodes at the vertices serves as a portable reference target that is placed in front of the feature sensor to be calibrated. The sensor array reads and calibrates the position of the light-emitting diodes at the vertices while the structured light of the feature sensor is projected onto the framework of the reference target. The structured light intersects with and reflects from the reference target, providing the feature sensor with positional and orientation data. These data are correlated to map the coordinate system of the feature sensor to the coordinate system of the external reference frame. A computer-generated virtual image display compares desired and actual sensor positions through a real time feedback system allowing the user to properly position the feature sensor without trial and error.
摘要翻译：传感器阵列位于有利位置，以检测和校准其参考帧到由发光参考标记划分的外部参考系。传感器阵列包括宽视场校准场，并提供指示放置在校准场内的光源的空间位置的数据。在顶点具有发光二极管的四面体框架用作便携式参考目标，其放置在要校准的特征传感器的前面。传感器阵列读取和校准发光二极管在顶点处的位置，同时将特征传感器的结构光投影到参考目标的框架上。结构光与参考目标相交并从参考目标反射，为特征传感器提供位置和方位数据。这些数据相关，将特征传感器的坐标系映射到外部参考系的坐标系。计算机生成的虚拟图像显示器通过实时反馈系统比较期望的和实际的传感器位置，允许用户正确地定位特征传感器而不经过试验和错误。

3. 发明授权

US4841460A Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system 失效
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US4841460A
公开(公告)日：1989-06-20
申请号：US94329
申请日：1987-09-08
申请人： Robert Dewar , Dale R. Greer
发明人： Robert Dewar , Dale R. Greer
IPC分类号： B30B15/00 , G01B11/00 , G01B11/03 , G01B21/00
CPC分类号： G01B11/002
摘要： One or more non-contacting gauging sensors are calibrated to a common external coordinate system by providing each sensor to be calibrated with a target which can be simultaneously viewed by the sensor and an external measuring system for determining coordinates of the target in terms of the external coordinate system and in terms of the sensor coordinate system. With the resulting spatial coordinates of the target expressed in both frames of reference, transform matrix coefficients can be calculated, for example with a programmable computer, to calibrate each sensor to the preselected common external coordinate system.

4. 发明授权

US06180939B2 Method and apparatus for temperature compensation of measurements from a non-contact sensor 有权
标题翻译：用于从非接触传感器测量的温度补偿的方法和装置
公开(公告)号：US06180939B2
公开(公告)日：2001-01-30
申请号：US09205742
申请日：1998-12-04
申请人： Myles Markey, Jr. , Dale R. Greer , Stephen James Tenniswood , Jesper Christensen
发明人： Myles Markey, Jr. , Dale R. Greer , Stephen James Tenniswood , Jesper Christensen
IPC分类号： H01J724
CPC分类号： G01B5/0014
摘要： A temperature compensation system (300) is provided for compensating measurements from a sensor (240). A temperature transducer (310) is placed in close proximity to a manufacturing workstation as a means of measuring the ambient temperature associated with the workstation (200). A reference workpiece (100) is placed within a sensing zone of the sensor (240). The system (300) includes a temperature compensating module (320) that is connected to the sensor (240) and to the temperature transducer (310) for determining a baseline measurement of the reference workpiece at a reference temperature. The temperature compensating module (320) is further adapted for collecting a plurality of measurements of the reference workpiece over a plurality of temperatures for establishing a relationship between these measurements and their corresponding temperature values. In addition, a workpiece measuring module (330) is also connected to the sensor (240) and to the temperature transducer (310) for measuring a first workpiece at a first temperature, whereby the sensor measurement is compensated for temperature using this relationship. In this way, the temperature compensation system (300) compensates the sensor measurement for physical changes in any of the components of the workstation that are caused by fluctuations in ambient temperature. Rather than compensate for ambient temperature changes, the temperature compensation system (300) may also be adapted to compensate sensor measurements based on process driven temperature changes (i.e., a “hot” workpiece).
摘要翻译：提供了用于补偿来自传感器（240）的测量值的温度补偿系统（300）。作为测量与工作站（200）相关联的环境温度的手段，将温度传感器（310）放置在靠近制造工作站的位置。参考工件（100）被放置在传感器（240）的感测区域内。系统（300）包括连接到传感器（240）和温度传感器（310）的温度补偿模块（320），用于确定参考温度下的参考工件的基线测量。温度补偿模块（320）还适于在多个温度上收集参考工件的多个测量值，以建立这些测量值与它们对应的温度值之间的关系。此外，工件测量模块（330）还连接到传感器（240）和温度传感器（310），用于在第一温度下测量第一工件，由此使用该关系来补偿传感器测量温度。以这种方式，温度补偿系统（300）补偿由环境温度波动引起的工作站的任何部件的物理变化的传感器测量。温度补偿系统（300）也可以适应于基于过程驱动的温度变化（即，“热”工件））补偿传感器测量值而不是补偿环境温度变化。

5. 发明授权

US06285959B1 Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system 失效
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US06285959B1
公开(公告)日：2001-09-04
申请号：US09378451
申请日：1999-08-20
申请人： Dale R. Greer
发明人： Dale R. Greer
IPC分类号： G01B1103
CPC分类号： G01B11/2504 , G01B11/002 , G01B21/042 , G01S7/497 , G01S17/66
摘要： The photogrammetric measurement system is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-reflecting retroreflective target dot on a spherical target. A tetrahedron framework with the spherical target mounted on one of the vertices serves as a reference target that is placed in front of the non-contact sensor to be calibrated. The photogrammetric measurement system reads and calibrates the position of the retroreflective target dot (and thus the tetrahedron) while the structured light of the sensor is projected onto the framework of the reference target. The structured light intersects with and reflects from the reference target, providing the non-contact sensor with positional and orientation data. This data is correlated to map the coordinate system of the non-contact sensor to the coordinate system of the external reference frame.
摘要翻译：摄影测量测量系统位于有利位置，以检测和校准其参考框架到通过球形靶上的光反射回射目标点划定的外部参考框架。安装在一个顶点上的具有球面目标的四面体框架用作被放置在待校准的非接触式传感器前面的参考目标。摄影测量测量系统读取和校准回射目标点（以及四面体）的位置，同时将传感器的结构光投影到参考目标的框架上。结构光与参考目标相交并从其反射，为非接触传感器提供位置和方位数据。将该数据相关联以将非接触式传感器的坐标系映射到外部参考系的坐标系。

6. 发明授权

US6128585A Method and apparatus for calibrating a noncontact gauging sensor with respect to an external coordinate system 失效
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US6128585A
公开(公告)日：2000-10-03
申请号：US30439
申请日：1998-02-25
申请人： Dale R. Greer
发明人： Dale R. Greer
IPC分类号： G01B11/00 , G01B11/03 , G01B11/25 , G01B21/04 , G01S7/497 , G01S17/66
CPC分类号： G01B11/002 , G01B11/2504 , G01B21/042 , G01S17/66 , G01S7/497
摘要： The sensor array is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-emitting reference indicia. The sensor array encompasses a wide view calibration field and provides data indicating the spatial position of light sources placed within the calibration field. A tetrahedron framework with light-emitting diodes at the vertices serves as a portable reference target that is placed in front of the feature sensor to be calibrated. The sensor array reads and calibrates the position of the light-emitting diodes at the vertices while the structured light of the feature sensor is projected onto the framework of the reference target. The structured light intersects with and reflects from the reference target, providing the feature sensor with positional and orientation data. These data are correlated to map the coordinate system of the feature sensor to the coordinate system of the external reference frame. A computer-generated virtual image display compares desired and actual sensor positions through a real time feedback system allowing the user to properly position the feature sensor.
摘要翻译：传感器阵列位于有利位置，以检测和校准其参考帧到由发光参考标记划分的外部参考系。传感器阵列包括宽视场校准场，并提供指示放置在校准场内的光源的空间位置的数据。在顶点具有发光二极管的四面体框架用作便携式参考目标，其放置在要校准的特征传感器的前面。传感器阵列读取和校准发光二极管在顶点处的位置，同时将特征传感器的结构光投影到参考目标的框架上。结构光与参考目标相交并从参考目标反射，为特征传感器提供位置和方位数据。这些数据相关，将特征传感器的坐标系映射到外部参考系的坐标系。计算机生成的虚拟图像显示器通过实时反馈系统比较期望的和实际的传感器位置，允许用户适当地定位特征传感器。

7. 发明授权

US06460004B2 Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system 有权
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US06460004B2
公开(公告)日：2002-10-01
申请号：US09761128
申请日：2001-01-16
申请人： Dale R. Greer , Gregory A. Dale
发明人： Dale R. Greer , Gregory A. Dale
IPC分类号： G01B1103
CPC分类号： G01B11/002 , G01B11/00 , G01B11/2504 , G01B21/042 , G01S7/497 , G01S17/66
摘要： A calibration system is provided for calibrating a sensor with respect to an external reference frame associated with manufacturing gauging station. A target calibration device is positioned at a vantage point to detect and calibrate its reference frame in relation to the external reference frame. A reference target having at least three non-coplanar reflective surfaces is illuminated by the structured light emanating from the sensor. In this way, the calibration system is able to determine the spatial location and orientation of the reference target in relation to the sensor. The calibration system further includes a coordinate transformation system for coordinating the measurement data from the target calibration device and from the feature sensor, whereby the feature sensor is calibrated with respect to the external reference frame.
摘要翻译：提供校准系统用于相对于与制造测量站相关联的外部参考系校准传感器。目标校准装置位于有利位置，以相对于外部参考系检测和校准其参考系。具有至少三个非共面反射表面的参考目标被从传感器发出的结构化光照射。以这种方式，校准系统能够确定参考目标相对于传感器的空间位置和取向。校准系统还包括用于协调来自目标校准装置和特征传感器的测量数据的坐标变换系统，由此特征传感器相对于外部参考系被校准。

8. 发明授权

US6134507A Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system 失效
标题翻译：相对于外部坐标系校准非接触式测量传感器的方法和装置
公开(公告)号：US6134507A
公开(公告)日：2000-10-17
申请号：US73205
申请日：1998-05-04
申请人： Myles Markey, Jr. , Dale R. Greer , Brett Hibbard
发明人： Myles Markey, Jr. , Dale R. Greer , Brett Hibbard
IPC分类号： G01B11/00 , G01B11/25 , G01B21/04 , G01S7/497 , G01S17/66 , G01C3/02
CPC分类号： G01B11/2504 , G01B11/002 , G01B21/042 , G01S17/66 , G01S7/497
摘要： The laser tracker is positioned at a vantage point to detect and calibrate its reference frame to the external reference frame demarcated by light-reflecting retro reflector. A tetrahedron framework with retro reflector mounted on one of the vertices serves as a reference target that is placed in front of the non-contact sensor to be calibrated. The laser tracker reads and calibrates the position of the retro reflector (and thus the tetrahedron) while the structured light of the non-contact sensor is projected onto the framework of the reference target. The structured light intersects with and reflects from the reference target, providing the non-contact sensor with positional and orientation data. These data are correlated to map the coordinate system of the non-contact sensor to the coordinate system of the external reference frame.
摘要翻译：激光跟踪器位于有利位置，以检测和校准其参考框架到由光反射反光镜分界的外部参考框架。安装在其中一个顶点上的回射反射器的四面体框架用作被放置在待校准的非接触式传感器之前的参考目标。激光跟踪器读取并校准反光镜（以及四面体）的位置，而非接触式传感器的结构光被投影到参考目标的框架上。结构光与参考目标相交并从其反射，为非接触传感器提供位置和方位数据。将这些数据相关联以将非接触式传感器的坐标系映射到外部参考系的坐标系。

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