Robotic Vision Systems, Inc.

Solid Photography, Inc.

Other

Dynell Electronics Corporation

Bayside Controls, Inc.

Joseph A Ross

Howard K Stern

Paul L Di Matteo

Richard Q Schmidt

Paul C DiMatteo

Paul L DiMatteo

Lawrence Waszak

Alex Mauro

Alan Feinstein

John P Whiteman

Jack Zhu

Variable air flow air conditioning (HVAC) systems including a method of cooling or heating a structure having at least two zones. In example embodiments, individual air flow rates of the at least two zones are measured, and a control system adjusts the individual air flow rates to maintain an instantaneous measured net volumetric air flow rate at a preset volumetric air flow rate as if there was a single fan operating the system.

Zoning system for air conditioning (HVAC) equipment

A contactless power supply device having a stationary unit and a movable unit that moves linearly in relation to the stationary unit. The stationary unit comprises a primary conductor having a power supply for supplying high frequency alternating current, at least one wire extending from the power supply along the stationary unit for carrying the current, and three switches arranged in parallel, each switch alternating its closing with the other switches to create a three phase alternating current. There is a secondary conductor disposed on the movable unit and arranged coaxially with the wire. The secondary conductor comprises a toroidal core surrounding the wire, and a three phase motor connected to the core and powered via induction from the power supply to slide the movable unit relative to the stationary unit. There are three switches connected in parallel between the motor and second controller, a plurality of Hall devices arranged in the secondary conductor for sending signals to communicate the status of the power to the first and second controllers, and a device for keeping the primary conductor and secondary conductor synchronous. The switches serially open and close to transfer alternating current in three phases from the amplifier to the motor.

Contactless power system

Arrangements for detecting the presence of an opaque object in an area, such as a person in a robotic work cell. Multiple light sources, light reflecting surfaces, light boxes with hole patterns or fiber optic light sources are spaced around the perimeter of the area and imaged by a camera. The change of the camera signal from its normal condition is used to interrupt power to safeguard personnel and/or machinery.

Robot cell safety system

An arrangement in which three-dimensional measurement sensors are calibrated using linear translation of three flat plates, one orthogonal to the path, one sloping vertically, one sloping horizontally. Sensors for which linear interpolation applies need only calibrate two surfaces of the sensor volume for complete calibration. Two flat surfaces are adequate for calibrating a volume if one surface is used twice.

Calibration of three-dimensional space

Methods are provided for reducing the number of projected patterns required to make two- or three-dimensional surface measurements on a sub-class of surfaces comprising relatively smooth surfaces. By including apriori knowledge about the surface to be measured, pattern ambiguities can be resolved by processing rather than by additional projected patterns.

Method of three-dimensional measurement with few projected patterns

The physical location of a surface in six degrees of freedom relative to the nominal location of a nominal surface is uniquely defined automatically by a measurement system provided with a processing unit, if sufficient asymmetric curvature exists in the surface to uniquely locate three points on the surface. Useful in inspection and material handling applications, a master model of the surface with a known location is defined. Two points are selected on the surface and then a plane is passed through the points, preferably perpendicular to the surface if no edge is present. Then a third point is selected along the curve of intersection so that the three points form a unique triangular template that locates the points along the curve. If the three points are on a sharp edge of the surface this may be adequate information. Otherwise a plane is passed through one of the points (or two planes, one through each of the two points), preferably perpendicular to the first plane, and two additional points are selected along the curve of intersection so that the three points form a unique triangular template that locates the points in the direction orthogonal to the direction of the first curve. Thus, depending on the surface curvature, as few as three points are chosen and measurements made in those relative locations on the surface to be located. By fitting the measured data to the nominal model surface, the location of the surface relative to the model can be determined.

Location of objects without use of salient features

An apparatus with a common aperture and multiple image recording surfaces with individual filters and/or controlled shutters enables the implementation of several methods of 3-D measurement systems. The parallel nature of the device lends to short measurement times suitable for measuring moving objects. A similar apparatus may be constructed to project multiple images simultaneously or in rapid succession. Elimination of mechanical motion within the projectors and cameras of the prior art reduce the measurement time significantly. A new method of 3-D measurement employing a sweeping light plane and time encoded image recording uses the apparatus. An alternate method maintains a stationary projected light plane through which an object moves as it is measured in 3-D. Another method uses simultaneous projection of light patterns at different frequencies. Another method employs the time of flight of a light pulse and time encoded recording of the reflected energy.

Method of measuring in three-dimensions at high speed

An object is scanned first with a light plane from a variable-intensity light-plane projector, and the reflected light is used as signals to modify point by point the output of the projector in accordance with the intensity of the respective reflective-light signal. Thereupon the object is scanned a second time and the projector is instructed to apply less light than before to those points of the object from which a strong reflected-light signal was received during the first scan, and/or to apply more light to points from which a weak reflected-light signal was received during the first scan. In similar manner, a projected intensity encoded light volume is projected on an object and the reflected light is used as signals to point-by-point modify the output of the projector for subsequent projections.

Detection of three-dimensional information with a projected plane of

Light intensity levels are measured at various locations in a scene and light amplified and/or attenuated by a device interposed between the source of light and the light-sensitive surface having a limited dynamic range. By attenuating bright regions and/or amplifying weak regions, the dynamic range of light intensities of the scene is reduced, thus enabling the limited dynamic range device to be used with scenes having a larger light intensity dynamic range. In applying the method to the receiving side of a 3-D measurement system employing projected light, a simpler system results and problems associated with modifying the high energy projected light are avoided. Also, a greater range of measured object surface reflectance is accommodated.

Arrangement for the expansion of the dynamic range of optical devices

A plurality of projectors are positioned in spaced relationship about an object with a surface to be geometrically analyzed. The projectors have cooperating masks which project onto the object illuminated patterns that subdivide the object into predetermined sections. Each mask has a predetermined pattern of sections, and is applied in sequence. The masks are cooperatively advanced in the projectors, with a separate illuminating pattern prevailing on the object each time that the masks are advanced. The combinations of the patterns on the masks define closely-spaced sections subdividing the object. The patterns are coded so that each section is uniquely defined in coded form. Cameras having the entire object within their field of view, photograph the object each time a separate mask is applied.

Arrangement for sensing the geometric characteristics of an object

The surface to be sensed or scanned is placed in the path of a projector which is moved along an axis of the surface. The path of motion of the projector is subdivided into predetermined sections which are illuminated by the projector in accordance with a predetermined sequential pattern. This procedure of moving the projector is repeated a predetermined number of times, with a separate illuminating pattern prevailing each time that the projector is moved relative to the surface and traverses the entire surface to be scanned. The combinations of the patterns obtained from the repeated scannings of the projector define closely-spaced sections of the surface. The patterns are coded so that each section is uniquely defined in coded form. A camera having the entire surface within its field of view photographs the surface each time that the projector is moved along the axis of the surface.

Arrangement for sensing the characteristics of a surface and determining

An object is scanned first with a flying light spot from a variable-intensity light-spot projector, and the reflected light is used as signals to point by point modify the output of the projector in accordance with the intensity of the respective reflective-light signal. Thereupon the object is scanned a second time and the projector instructed to apply less light than before to those points of the object from which a strong reflected-light signal was received during the first scan, and to apply more light to points from which a weak reflected-light signal was received during the first scan.

Growing community of inventors

Fort Salonga, NY, United States of America

Joseph A Ross