# US 11,860,601 B2 · Calibration of a computer-numerically-controlled machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,860,601 B2 - Document ID: US11860601B2 - Status: Granted - Kind: B2 - Application number: 17/463,857 - Filed: 2021-09-01 - Published: 2022-02-24 - Granted: 2024-01-02 - Earliest claimed: 2016-11-25 - Assignees: Glowforge Inc. - Applicants: Glowforge Inc. - Inventors: Daniel Shapiro; Mark Gosselin; Anthony Wright; Kevin McVey; Jared Kofron; Daniel Martinec; Brian Fioca; Taylor Vaughn - Web page: https://patentgrep.com/patent/US11860601B2 ## CPC - G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - G05B 2219/40607: Fixed camera to observe workspace, object, workpiece, global - G05B 2219/41092: References, calibration positions for correction of value position counter - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A method for calibrating a computer-numerically-controlled machine can include capturing one or more images of at least a portion of the computer-numerically-controlled machine. The one or more images can be captured with at least one camera located inside an enclosure containing a material bed. A mapping relationship can be created which maps a pixel in the one or more images to a location within the computer-numerically controlled machine. The creation of the mapping relationship can include compensating for a difference in the one or more images relative to one or more physical parameters of the computer-numerically-controlled machine and/or a material positioned on the material bed. Related systems and/or articles of manufacture, including computer program products, are also provided. ## Claims ### Claim 1 A computing system, comprising: at least one processor; a non-transitory computer-readable medium; and program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to: access one or more images showing (i) at least a portion of a material bed located inside an enclosure of a computer-numerically-controlled machine and (ii) a workpiece positioned on the material bed, wherein the one or more images are captured by one or more cameras located inside the enclosure of the computer-numerically-controlled machine; process the one or more images to identify one or more differences in the one or more images relative to one or more known physical characteristics of the computer-numerically-controlled machine and (i) a thickness of the workpiece or (ii) a height of an upper surface of the workpiece relative to the material bed; determine a mapping relationship by mapping pixels in the one or more images to corresponding physical locations within the computer-numerically-controlled machine in a manner that compensates for the identified one or more differences; generate a machine file or a motion plan for an intended fabricating pattern based at least on the determined mapping relationship; and cause the computer-numerically-controlled machine to implement the intended fabricating pattern on the workpiece by delivering electromagnetic energy to the workpiece based on the machine file or the motion plan. ### Claim 2 (depends on 1) The computing system of claim 1, wherein the one or more known characteristics of the computer-numerically-controlled machine comprise a shape of the material bed or lighting conditions within the enclosure. ### Claim 3 (depends on 1) The computing system of claim 1, further comprising program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to: measure the thickness of the workpiece or the height of the upper surface of the workpiece relative to the material bed. ### Claim 4 (depends on 1) The computing system of claim 1, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises mapping a particular pixel coordinate corresponding to a particular pixel in the one or more images to a particular location coordinate corresponding to a particular location within the computer-numerically-controlled machine; and wherein the generating the machine file or the motion plan comprises converting an instruction corresponding to the particular pixel coordinate to one or more commands for execution at the particular location. ### Claim 5 (depends on 1) The computing system of claim 1, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises using the identified one or more differences to correct a warping or distortion in the one or more images. ### Claim 6 (depends on 1) The computing system of claim 1, further comprising program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to: generate a preview image comprising a view of the workpiece and one or more features of the intended fabricating pattern on the workpiece, the one or more features reflecting at least the mapping relationship between the pixels in the one or more images and the corresponding physical locations within the computer-numerically-controlled machine. ### Claim 7 (depends on 1) The computing system of claim 1, wherein the one or more cameras comprise a first camera and a second camera, and wherein the computing system further comprises program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to: cause the first camera to capture a first image of the one or more images; and based at least in part on the first image, cause the second camera to capture a second image of the one or more images. ### Claim 8 (depends on 7) The computing system of claim 7, further comprising program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to: determine the one or more known physical characteristics of the computer-numerically-controlled machine, wherein the determining the one or more known physical characteristics of the computer-numerically-controlled machine comprises determining a location of the second camera based at least on the first image or the second image. ### Claim 9 (depends on 1) The computing system of claim 1, wherein the one or more images include one or more distinct patterns from a calibration tool that includes a plurality of distinct patterns, and wherein the determining the mapping relationship comprises determining the mapping relationship based at least on a location of the one or more distinct patterns within the calibration tool. ### Claim 10 A non-transitory computer-readable medium, wherein the non-transitory computer-readable medium is provisioned with program instructions that, when executed by at least one processor, cause a computing system to: access one or more images showing (i) at least a portion of a material bed located inside an enclosure of a computer-numerically-controlled machine and (ii) a workpiece positioned on the material bed, wherein the one or more images are captured by one or more cameras located inside the enclosure of the computer-numerically-controlled machine; process the one or more images to identify one or more differences in the one or more images relative to one or more known physical characteristics of the computer-numerically-controlled machine and (i) a thickness of the workpiece or (ii) a height of an upper surface of the workpiece relative to the material bed; determine a mapping relationship by mapping pixels in the one or more images to corresponding physical locations within the computer-numerically-controlled machine in a manner that compensates for the identified one or more differences; generate a machine file or a motion plan for an intended fabricating pattern based at least on the determined mapping relationship; and cause the computer-numerically-controlled machine to implement the intended fabricating pattern on the workpiece by delivering electromagnetic energy to the workpiece based on the machine file or the motion plan. ### Claim 11 (depends on 10) The non-transitory computer-readable medium of claim 10, wherein the one or more known characteristics of the computer-numerically-controlled machine comprise a shape of the material bed or lighting conditions within the enclosure. ### Claim 12 (depends on 11) The non-transitory computer-readable medium of claim 11, wherein the non-transitory computer-readable medium is also provisioned with program instructions that, when executed by at least one processor, cause the computing system to: measure the thickness of the workpiece or the height of the upper surface of the workpiece relative to the material bed. ### Claim 13 (depends on 10) The non-transitory computer-readable medium of claim 10, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises mapping a particular pixel coordinate corresponding to a particular pixel in the one or more images to a particular location coordinate corresponding to a particular location within the computer-numerically-controlled machine; and wherein the generating the machine file or the motion plan comprises converting an instruction corresponding to the particular pixel coordinate to one or more commands for execution at the particular location. ### Claim 14 (depends on 10) The non-transitory computer-readable medium of claim 10, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises using the identified one or more differences to correct a warping or distortion in the one or more images. ### Claim 15 A method carried out by a computing system, the method comprising: accessing one or more images showing (i) at least a portion of a material bed located inside an enclosure of a computer-numerically-controlled machine and (ii) a workpiece positioned on the material bed, wherein the one or more images are captured by one or more cameras located inside the enclosure of the computer-numerically-controlled machine; processing the one or more images to identify one or more differences in the one or more images relative to one or more known physical characteristics of the computer-numerically-controlled machine and (i) a thickness of the workpiece or (ii) a height of an upper surface of the workpiece relative to the material bed; determining a mapping relationship by mapping pixels in the one or more images to corresponding physical locations within the computer-numerically-controlled machine in a manner that compensates for the identified one or more differences; generating a machine file or a motion plan for an intended fabricating pattern based at least on the determined mapping relationship; and causing the computer-numerically-controlled machine to implement the intended fabricating pattern on the workpiece by delivering electromagnetic energy to the workpiece based on the machine file or the motion plan. ### Claim 16 (depends on 15) The method of claim 15, wherein the one or more known physical characteristics of the computer-numerically-controlled machine comprise a shape of the material bed or lighting conditions within the enclosure. ### Claim 17 (depends on 16) The method of claim 16, further comprising: measuring the thickness of the workpiece or the height of the upper surface of the workpiece relative to the material bed. ### Claim 18 (depends on 15) The method of claim 15, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises mapping a particular pixel coordinate corresponding to a particular pixel in the one or more images to a particular location coordinate corresponding to a particular location within the computer-numerically-controlled machine; and wherein the generating the machine file or the motion plan comprises converting an instruction corresponding to the particular pixel coordinate to one or more commands for execution at the particular location. ### Claim 19 (depends on 15) The method of claim 15, wherein the mapping the pixels in the one or more images to the corresponding physical locations within the computer-numerically-controlled machine in the manner that compensates for the identified one or more differences comprises using the identified one or more differences to correct a warping or distortion in the one or more images. ### Claim 20 (depends on 15) The method of claim 15, further comprising: generating a preview image comprising a view of the workpiece and one or more features of the intended fabricating pattern on the workpiece, the one or more features reflecting at least the mapping relationship between the pixels in the one or more images and the corresponding physical locations within the computer-numerically-controlled machine.