Methods And Systems For Providing Landmarks To Facilitate Robot Localization And Visual Odometry
US-2016339587-A1 · Nov 24, 2016 · US
US10046351B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10046351-B2 |
| Application number | US-201514679178-A |
| Country | US |
| Kind code | B2 |
| Filing date | Apr 6, 2015 |
| Priority date | Jul 14, 2014 |
| Publication date | Aug 14, 2018 |
| Grant date | Aug 14, 2018 |
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A pump system for pumping a fluid includes a motor housing, a motor, a rod, a positive displacement pump, a position sensor, and a controller. The motor is located within the motor housing. The rod is connected to and driven by the motor and the positive displacement pump for moving a fluid is driven by the rod. The position sensor produces a rod position signal that is a function of a position of the rod, and the controller produces a drive signal for driving the motor as a function of the rod position signal.
Opening claim text (preview).
The invention claimed is: 1. A system for pumping, tracking and controlling a fluid, the system comprising: a pump system for pumping the fluid, the pump comprising: a motor housing; a motor located within the motor housing; a rod connected to and driven by the motor; a pump driven by the rod for moving a fluid; and a position sensor for producing a rod position signal that is a function of a position of the rod; a dispenser for controllably dispensing multiple streams of fluid received from the pump; a work piece sensor for producing a work piece signal that is a function of detection of a work piece; and a controller, the controller comprising a calculating circuit and computer readable storage media and configured to: receive a programmed dispenser output from a user interface, produce a drive signal for driving the motor, produce a dispense signal for the dispenser that is a function of the work piece signal, produce a calculated work piece count as a function of the work piece signal, produce a calculated volume usage as a function of the position signal, produce a calculated flow rate as a function of the calculated volume usage, produce a calculated fluid weight as a function of the calculated volume usage, and produce a calculated fluid compressibility as a function of the calculated volume usage. 2. The system of claim 1 and further comprising a sleeve connected to the motor housing, wherein the position sensor is connected to the sleeve. 3. The system of claim 1 , wherein the position sensor is an ultrasonic sensor. 4. The system of claim 1 , wherein the position sensor is a linear variable differential transformer sensor. 5. The system of claim 4 , wherein the rod acts as a core for the position sensor. 6. The system of claim 1 , wherein the position sensor is connected to the motor housing. 7. The system of claim 1 , wherein the position sensor is a reed sensor. 8. The system of claim 1 , wherein the motor is double ended type air motor. 9. The system of claim 1 , wherein the controller is configured to receive a programmed dispenser output from a user interface. 10. The system of claim 9 , wherein the controller is configured to adjust the drive signal and the dispense signal as a function of the volume to meet the programmed dispenser output. 11. The system of claim 10 , wherein the controller is configured to adjust the dispenser signal to vary timing or a stitching percentage of the dispensed fluid. 12. The system of claim 1 , wherein the programmed dispenser output is a programmed flow rate. 13. The system of claim 1 , wherein the programmed dispenser output is a programmed volume per work piece. 14. The system of claim 1 , wherein the dispenser comprises a plurality of sprayers for spraying multiple streams of fluid, and wherein each sprayer receives a dispense signal from the controller. 15. The system of claim 14 , wherein the controller calculates sprayer performance of each sprayer as a function of an adjustment to the dispenser signals. 16. The system of claim 15 , wherein the controller produces the drive signal as a function of the sprayer performance. 17. The system of claim 16 , wherein the controller produces the dispenser signals as a function of the sprayer performance. 18. The system of claim 1 , wherein the controller displays a real-time value of the calculated flow rate on a user interface. 19. The system of claim 1 , wherein the controller produces an average flow rate as a function the calculated flowrate, and wherein the controller displays a real-time value of the average flow rate on a user interface. 20. The system of claim 1 , wherein the controller produces an alarm as a function of the calculated flow rate when the calculated flow rate has changed by a prescribed amount, is under a prescribed minimum value, or is above a prescribed maximum value. 21. The system of claim 1 , wherein the controller produces a per-work piece fluid output as a function of the work piece count and the calculated flow rate. 22. The system of claim 21 , wherein the controller displays a real-time value of the per-work piece fluid output on a user interface. 23. The system of claim 21 , wherein the controller produces an alarm as a function of per-work piece fluid output when the per-work piece fluid output has changed by a prescribed amount, is under a prescribed minimum value, or is above a prescribed maximum value. 24. The system of claim 1 , wherein the controller produces a long-term fluid output per work piece as a function work piece count and calculated flow rate. 25. The system of claim 24 , wherein the controller produces a trend over time of long-term fluid output per work piece. 26. The system of claim 25 , wherein the controller uploads data of the trend over time of long-term fluid output per work piece to a computer readable storage media. 27. The system of claim 24 , wherein the controller displays a real-time value of the long-term fluid output per work piece on a user interface. 28. The system of claim 24 , wherein the controller produces an alarm as a function of long-term fluid output per work piece when the long-term fluid output per work piece has changed by a prescribed amount, is over a prescribed minimum value, or is above a prescribed maximum value. 29. The system of claim 1 , wherein the controller produces an average calculated flow rate as a function of calculated flow rate. 30. The system of claim 1 , wherein the controller produces a dispensed fluid output as a function the calculated flow rate and the dispense signal.
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