Method and apparatus for outlining the environment of a multiarticular duty machine by means of a laser pointer
First Claim
1. A method for outlining features in the manipulation environment of a duty machine comprising:
- pointing the laser beam of a laser pointer in succession at a plurality of points on features of the environment, the laser pointer being movable to different positions for directing the laser beam at different directions to the plurality of points, the plurality of points being at different distances from the laser pointer;
measuring the direction of the laser beam for each point;
measuring the distance of the laser pointer to each point;
storing the measured directions and distances for each point in a memory, the stored directions and distances forming position information for each of the points;
selecting one of a plurality of geometric plane figures representing primitive volumes, using a keyboard;
providing a plurality of mathematical algorithms which are useful in producing model spatial planes and curves using some of the plurality of points; and
applying the geometric plane figures and the mathematical algorithms to the position information of the plurality of points to form a model of the manipulation environment including its features.
1 Assignment
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Accused Products
Abstract
A method and apparatus for outlining the manipulation environment of a duty machine automatically determines its working cycles. The method includes a laser pointer (2) which measures the direction and distance of the laser beam with respect to an object. By means of the pointer there is registered a set of points (1), which can be formed of separate pointes or of continuous lines and which gives a rough illustration of the entire manipulation space, i.e. its free space and the objects located therein. The set of points is completed to form a model of the manipulation environment both by means of geometric plane figures (primitive volumes)(3) sent from the user'"'"'s keyboard, and by means of mathematical algorithms, in order to match the spatial planes and curves with the given set of points. The automatically determined trajectories are corrected during the working performance according to the feedback information received from the object under operation.
53 Citations
12 Claims
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1. A method for outlining features in the manipulation environment of a duty machine comprising:
- pointing the laser beam of a laser pointer in succession at a plurality of points on features of the environment, the laser pointer being movable to different positions for directing the laser beam at different directions to the plurality of points, the plurality of points being at different distances from the laser pointer;
measuring the direction of the laser beam for each point;
measuring the distance of the laser pointer to each point;
storing the measured directions and distances for each point in a memory, the stored directions and distances forming position information for each of the points;
selecting one of a plurality of geometric plane figures representing primitive volumes, using a keyboard;
providing a plurality of mathematical algorithms which are useful in producing model spatial planes and curves using some of the plurality of points; and
applying the geometric plane figures and the mathematical algorithms to the position information of the plurality of points to form a model of the manipulation environment including its features. - View Dependent Claims (2, 3, 4, 5, 6)
- pointing the laser beam of a laser pointer in succession at a plurality of points on features of the environment, the laser pointer being movable to different positions for directing the laser beam at different directions to the plurality of points, the plurality of points being at different distances from the laser pointer;
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7. An apparatus for outlining features in the manipulation environment of a duty machine by forming a point model of the features, comprising:
- a laser pointer for pointing a laser beam at a succession of points on the features of the manipulation environment;
direction changing means carrying the laser pointer for moving the beam to a plurality of directions each for a separate point;
distance measuring means operatively connected to said laser pointer for measuring the distance between the laser pointer and each point in a direction along the beam;memory means operatively connected to said direction changing means and said distance measuring means for storing direction and distance information for each of the points;
a menu-type keyboard for containing a plurality of geometric plane figures each of which are selectable by a user;
a calculation unit operatively connected to said keyboard and to said memory and containing mathematical algorithms, said calculator unit calculating the positions of the points and producing the point model using at least some of the geometric plane figures from the keyboard and the mathematical algorithms. - View Dependent Claims (8, 9, 10, 11, 12)
- a laser pointer for pointing a laser beam at a succession of points on the features of the manipulation environment;
Specification