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1. 发明授权

US4969108A Vision seam tracking method and apparatus for a manipulator 失效
标题翻译：视觉缝跟踪方法及机械手装置
公开(公告)号：US4969108A
公开(公告)日：1990-11-06
申请号：US179505
申请日：1988-04-08
申请人： Gregory Webb , Keith R. Wehmeyer
发明人： Gregory Webb , Keith R. Wehmeyer
IPC分类号： G01B11/00 , B23K9/127 , B25J9/16 , B25J9/18 , B25J19/04 , G05B19/4155 , G05B19/425
CPC分类号： B25J9/1684 , G05B19/425
摘要： A three-dimensional vision seam tracking method and apparatus for controlling the motion of the center point of a tool mounted on a manipulator. The manipulator is provided with a control to operate the manipulator members to move the tool center point at programmed velocities along a programmed path corresponding to the seam. The manipulator is provided with a vision system including a laser scanner/camera head mounted ahead of the function element. The control is programmed with dynamically varying orientation angles to control the orientation of the tool during seam tracking. The laser scanner/camera head scans the seam at predetermined time intervals. A set of coordinates for the center point of the seam in a coordinate system relative to the camera is provided for each scan. The sets of camera coordinates are transformed to the coordinate system of the manipulator using transformation matrices employing the orientation angles in effect at the time of the scan for the set of camera coordinates being transformed. The transformed coordinates are stored in a FIFO buffer until needed. The seam tracking routine of the manipulator control removes FIFO entries at some later time and alters the manipulator's programmed path to move the tool center point along the seam.

2. 发明授权

US5543857A Graphical menu for a television receiver 失效
标题翻译：电视接收机的图形菜单
公开(公告)号：US5543857A
公开(公告)日：1996-08-06
申请号：US347786
申请日：1994-11-30
申请人： Keith R. Wehmeyer , Robert J. Logan , Robert H. Miller , Sheila R. Augaitis , Aaron H. Dinwiddie
发明人： Keith R. Wehmeyer , Robert J. Logan , Robert H. Miller , Sheila R. Augaitis , Aaron H. Dinwiddie
IPC分类号： H04N5/445 , H04N5/262
CPC分类号： H04N5/44504 , H04N21/4131 , H04N21/42216 , H04N21/42653 , H04N21/4312 , H04N21/482 , H04N21/485 , H04N5/44543
摘要： A television receiver, includes a graphics generator for generating for display a stylized image of the environment in which the user's physical television receiver is situated. The image includes graphical representations of functions which are available for selection and control by a user, and at least one of which functions affect the display of the video image. In one embodiment of the invention, a video inset-image from a PIP unit is completely surrounded by a graphics image. The PIP image is aligned with the screen of a graphically displayed television receiver to portray an image of a television displaying an received television program. Alternatively, an animated graphics presentation is displayed in the screen area of the graphically-displayed television receiver to simulate live video. In another embodiment, a stylized display of the user's room is altered in response to user input regarding the user's consumer electronics equipment, and submenu operational choices are enabled or disabled accordingly.
摘要翻译：一种电视接收机，包括用于生成用于显示用户物理电视接收机所在的环境的风格化图像的图形生成器。图像包括可用于用户的选择和控制的功能的图形表示，并且其中至少一个功能影响视频图像的显示。在本发明的一个实施例中，来自PIP单元的视频插入图像被图形图像完全包围。 PIP图像与图形显示的电视接收机的屏幕对准以描绘显示所接收的电视节目的电视的图像。或者，在图形显示的电视接收机的屏幕区域中显示动画图形呈现以模拟实时视频。在另一个实施例中，响应于关于用户的消费电子设备的用户输入而改变用户房间的风格化显示，并且相应地启用或禁用子菜单操作选择。

3. 发明授权

US4972347A Method and apparatus for determining the correct tool dimensions for a three dimensional tool mounted on a manipulator 失效
标题翻译：用于确定安装在操纵器上的三维工具的正确工具尺寸的方法和装置
公开(公告)号：US4972347A
公开(公告)日：1990-11-20
申请号：US255507
申请日：1988-10-11
申请人： Ronald L. Tarvin , Keith R. Wehmeyer
发明人： Ronald L. Tarvin , Keith R. Wehmeyer
IPC分类号： B25J9/16 , B25J9/18
CPC分类号： B25J9/1692 , G05B2219/45083 , G05B2219/50336
摘要： A method and apparatus by which correct tool dimensions for a three dimensional tool mounted on a manipulator can be determined. The manipulator operator inputs initial values for the tool dimensions into the manipulator control in the teach mode. Having established a target point within the manipulator's working volume, the operator, by means of teach pendant, causes the tool center point to approach and touch the target point from four different directions, at least one of which is noncoplanar with respect to the other three. For each approach point coordinates X, Y, Z, D, E, R are entered into the control. The control thereafter executes an analytical procedure including a major iteration loop which calculates the coordinates of the target point. In a first minor iteration loop within the major iteration loop updated tool dimensions are derived. In a second minor iteration loop within the major iteration loop new coordinates for the tool center point approach points are calculated. The differences between the average of the calculated coordinates of the target point and the average of the calculated coordinates of the approach points are determined. If the differences fall within operator determined limits the tool dimensions calculated in the first minor iteration loop are used. If not, the major iteration loop is repeated using the calculated values the tool dimensions and approach point coordinates of the previous iteration until they do, or until a predetermined number of iterations has been performed, whereupon an error signal is displayed.
摘要翻译：可以确定安装在操纵器上的三维工具的正确工具尺寸的方法和装置。操纵器操作员在示教模式下将刀具尺寸的初始值输入到操纵器控制中。在操纵器的工作体积内建立目标点之后，操作者通过教导装置使工具中心点从四个不同的方向接近并触摸目标点，其中至少一个方向相对于另外三个方向是非共面的。对于每个接近点，坐标X，Y，Z，D，E，R被输入到控制中。此后的控制执行包括计算目标点的坐标的主要迭代循环的分析过程。在主要迭代循环中的第一个小的迭代循环中，派生了更新的工具维度。在主迭代循环中的第二个次迭代循环中，计算刀具中心点逼近点的新坐标。确定目标点的计算坐标的平均值与接近点的计算坐标的平均值之间的差异。如果差异落在操作者确定的限度内，则使用在第一次轻微循环中计算的刀具尺寸。如果不是，则使用所计算的值重复使用前一次迭代的工具尺寸和接近点坐标的主迭代循环，直到它们执行，或直到执行了预定数量的迭代，从而显示错误信号。

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