# US 2020/0061767 A1 · Systems, methods and apparatus for guided tools > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0061767 A1 - Document ID: US20200061767A1 - Status: Published application - Kind: A1 - Application number: 16/665,602 - Filed: 2019-10-28 - Published: 2020-02-27 - Earliest claimed: 2015-05-13 - Assignees: Shaper Tools, Inc. - Applicants: Shaper Tools, Inc. - Inventors: ALEC ROTHMYER RIVERS; ILAN ELLISON MOYER; MATTHEW WYATT MARTIN; CHRISTIAN REED - Web page: https://patentgrep.com/patent/US20200061767A1 ## CPC - B23Q 15/22: Control or regulation of position of tool or workpiece - B23B 49/00: Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored (marking-out equipment B25H7/00; measuring devices, gauges G01B) - B23Q 3/16: controlled in conjunction with the operation of the tool - B23Q 11/0046: {by sucking} - B23Q 11/005: {by blowing} - B23Q 11/006: {by sucking and blowing simultaneously} - B23Q 17/2233: {for adjusting the tool relative to the workpiece} - B23Q 17/2409: {Arrangements for indirect observation of the working space using image recording means, e.g. a camera} - B23Q 17/2428: {for measuring existing positions of tools or workpieces} - 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 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 2219/37355: Cutting, milling, machining force - G05B 2219/37404: Orientation of workpiece or tool, surface sensor - G05B 2219/37405: Contact detection between workpiece and tool, probe, feeler - G05B 2219/37613: Cutter axis tilt of end mill - G05B 2219/45127: Portable, hand drill - G05B 2219/45229: Woodworking - Y10T 409/306608: End mill [e.g., router, etc.] - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - B23B: TURNING; BORING (arrangements for copying or controlling B23Q) - 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) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract The present disclosure is directed to calibrating position detection for a tool. The tool can use a sensor to detect a first value of a parameter. The tool can use a motor to extend the working member of the tool towards a working surface. The tool can include a base. The tool can detect, with the working member in contact with the working service, a second value of the parameter. The tool can determine a z-axis position of the working member relative to the working surface. ## Claims ### Claim at position 1 1-24. (canceled) ### Claim 25 A system for probing a workpiece using a working member, the system comprising: one or more processors; a sensor coupled to at least one of the one or more processors; one or more actuators configured to move the working member relative to the workpiece; and one or more memories operatively coupled to the one or more processors and storing instructions which, when executed by the one or more processors, cause performance of: detecting a first value of a parameter measured by the sensor, wherein, during detection of the first value: the working member is not in contact with the workpiece, the working member is at a first lateral position, and the sensor is at a first sensor position; providing information that causes at least one of the one or more of the actuators to move the working member into contact with the workpiece; detecting a second value of the parameter measured by the sensor, wherein, during detection of the second value: the working member is in contact with the workpiece, the working member is at the first lateral position, and the sensor is at a second sensor position; and determining a first calibrated position of the working member at the first lateral position based at least in part upon the first value and the second value, wherein the second sensor position is different from the first sensor position. ### Claim 26 (depends on 25) The system of claim 25, the system comprising: a rig, wherein the sensor is coupled to the rig, and at least a portion of the weight of the rig is supported by the workpiece. ### Claim 27 (depends on 25) The system of claim 25, wherein the first value is related to force applied to the sensor, and the sensor is a force sensor. ### Claim 28 (depends on 25) The system of claim 25, wherein the first value is related to motion of the sensor, and the sensor is an inertial sensor. ### Claim 29 (depends on 25) The system of claim 25, wherein the sensor is a camera, and the first value is related to an image pixel value from an image captured by the camera. ### Claim 30 (depends on 25) The system of claim 25, wherein the one or more memories store instructions which, when executed by the one or more processors, cause performance of: detecting a third value of the parameter measured by the sensor, wherein, during detection of the third value, the working member is at a second lateral position; and determining a second calibrated position of the working member based at least in part upon the third value. ### Claim 31 (depends on 30) The system of claim 30, wherein, during detection of the third value, the working member is in contact with a surface supporting the workpiece, and a thickness value associated with the workpiece is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 32 (depends on 30) The system of claim 30, wherein, during detection of the third value, the working member is in contact with the workpiece, and a depth value associated with the second lateral position is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 33 (depends on 32) The system of claim 32, wherein a topographical map associated with the workpiece is based at least in part upon a plurality of depth values and their associated respective lateral positions. ### Claim 34 (depends on 25) The system of claim 25, wherein the first calibrated position is associated with a reference position along an axis perpendicular to at least a portion of a surface of the workpiece. ### Claim 35 (depends on 34) The system of claim 34, wherein the working member is located at the first lateral position relative to the portion of the surface of the workpiece. ### Claim 36 (depends on 35) The system of claim 35, wherein, in a coordinate system, the first lateral position refers to x and y coordinates of a feature of the working member, and the first calibrated position refers to the z coordinate of the feature of the working member. ### Claim 37 (depends on 36) The system of claim 36, wherein the working member is a cutting bit, and the feature is a tip of the cutting bit. ### Claim 38 (depends on 34) The system of claim 34, wherein the one or more memories store instructions which, when executed by the one or more processors, cause performance of: cutting the workpiece at a second lateral position using the working member, wherein a position of the working member along the perpendicular axis is based at least in part upon the first calibrated position and a target cut depth. ### Claim 39 A computer implemented method for probing a workpiece using a working member, the method comprising: detecting a first value of a parameter measured by a sensor, wherein, during detection of the first value: the working member is not in contact with the workpiece, the working member is at a first lateral position, and the sensor is at a first sensor position; providing information that causes at least one of one or more actuators to move the working member into contact with the workpiece; detecting a second value of the parameter measured by the sensor, wherein, during detection of the second value: the working member is in contact with the workpiece, the working member is at the first lateral position, and the sensor is at a second sensor position; and determining a first calibrated position of the working member at the first lateral position based at least in part upon the first value and the second value, wherein the second sensor position is different from the first sensor position. ### Claim 40 (depends on 39) The method of claim 39, comprising: detecting a third value of the parameter measured by the sensor, wherein, during detection of the third value, the working member is at a second lateral position; and determining a second calibrated position of the working member based at least in part upon the third value. ### Claim 41 (depends on 40) The method of claim 40, wherein, during detection of the third value, the working member is in contact with a surface supporting the workpiece, and a thickness value associated with the workpiece is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 42 (depends on 40) The method of claim 40, wherein, during detection of the third value, the working member is in contact with the workpiece, and a depth value associated with the second lateral position is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 43 (depends on 42) The method of claim 42, wherein a topographical map associated with the workpiece is based at least in part upon a plurality of depth values and their associated respective lateral positions. ### Claim 44 One or more non-transitory computer-readable media storing instructions for probing a workpiece using a working member, wherein the instructions, when executed by one or more processors, cause performance of: detecting a first value of a parameter measured by a sensor, wherein, during detection of the first value: the working member is not in contact with the workpiece, the working member is at a first lateral position, and the sensor is at a first sensor position; providing information that causes at least one of one or more actuators to move the working member into contact with the workpiece; detecting a second value of the parameter measured by the sensor, wherein, during detection of the second value: the working member is in contact with the workpiece, the working member is at the first lateral position, and the sensor is at a second sensor position; and determining a first calibrated position of the working member at the first lateral position based at least in part upon the first value and the second value, wherein the second sensor position is different from the first sensor position. ### Claim 45 (depends on 44) The one or more non-transitory computer-readable media of claim 44, wherein the instructions, when executed by one or more processors, cause performance of: detecting a third value of the parameter measured by the sensor, wherein, during detection of the third value, the working member is at a second lateral position; and determining a second calibrated position of the working member based at least in part upon the third value. ### Claim 46 (depends on 45) The one or more non-transitory computer-readable media of claim 45, wherein, during detection of the third value, the working member is in contact with a surface supporting the workpiece, and a thickness value associated with the workpiece is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 47 (depends on 45) The one or more non-transitory computer-readable media of claim 45, wherein, during detection of the third value, the working member is in contact with the workpiece, and a depth value associated with the second lateral position is based at least in part upon the first calibrated position and the second calibrated position. ### Claim 48 (depends on 47) The one or more non-transitory computer-readable media of claim 47, wherein a topographical map associated with the workpiece is based at least in part upon a plurality of depth values and their associated respective lateral positions.