US 12,447,625 B2
Systems and methods for aligning and localizing a tool
Todd William Danko, Niskayuna, NY (US); and Trevor Owen Hawke, Bristol (GB)
Assigned to OLIVER CRISPIN ROBOTICS LIMITED, Altrincham (GB); and General Electric Company, Schenectady, NY (US)
Filed by OLIVER CRISPIN ROBOTICS LIMITED, Altrincham (GB); and General Electric Company, Schenectady, NY (US)
Filed on Jun. 3, 2022, as Appl. No. 17/832,248.
Prior Publication US 2023/0390933 A1, Dec. 7, 2023
Int. Cl. G01B 11/27 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 11/00 (2006.01); B64F 5/40 (2017.01)
CPC B25J 9/1697 (2013.01) [B25J 13/08 (2013.01); G01B 11/272 (2013.01); B25J 11/0075 (2013.01); B64F 5/40 (2017.01)] 18 Claims
OG exemplary drawing
 
1. A tool for performing an operation in a workspace, the tool comprising:
a camera configured to generate an image of a field of view of the camera;
a second optical device located adjacent to the camera, the second optical device configured to project a second viewing plane in the image;
a processor coupled to the tool and configured to communicate with the camera and the second optical device;
a spray nozzle at an end of the tool; and
a paddle configured to be removably coupled to the end of the tool via the spray nozzle and disposed in the field of view of the camera;
wherein the processor is configured to define a first viewing plane as a centerline of the field of view,
wherein the processor is configured to rotate the paddle perpendicular to the second viewing plane and define the second viewing plane using two alignment features on the paddle,
wherein the first viewing plane and the second viewing plane intersect to define an intersection point on the image.