# US 2022/0057770 A1 · 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 2022/0057770 A1 - Document ID: US20220057770A1 - Status: Published application - Kind: A1 - Application number: 17/463,857 - Filed: 2021-09-01 - Published: 2022-02-24 - 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/US20220057770A1 ## 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 method comprising: capturing one or more images of at least a portion of a computer-numerically-controlled machine, the one or more images being captured with at least one camera located inside an enclosure containing a material bed; and creating a mapping relationship that maps a pixel in the one or more images to a location within the computer-numerically controlled machine, the creation of the mapping relationship comprising 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. ### Claim 2 (depends on 1) The method of claim 1, wherein the computer-numerically-controlled machine includes at least one tool configured to deliver electromagnetic energy to at least one location on the material positioned on the material bed. ### Claim 3 (depends on 1) The method of claim 1, wherein the one or more physical parameters of the computer-numerically-controlled machine and/or the material comprise one or more of a shape of the material bed, lighting conditions within a housing of the computer-numerically-controlled machine, a thickness of the material, and a height of an upper surface of the material relative to the material bed. ### Claim 4 (depends on 1) The method of claim 1, further comprising: mapping, based on the mapping relationship, a pixel coordinate in the one or more images to a location coordinate in the computer-numerically-controlled machine; converting an instruction corresponding to the pixel coordinate to a command for execution at the location, the conversion based at least on the mapping of the pixel coordinate in the one or more images to the location coordinate in the computer-numerically-controlled machine; and executing the command as part of a motion plan for the computer-numerically-controlled machine. ### Claim 5 (depends on 1) The method of claim 1, wherein the compensation comprises at least one of: de-warping the one or more images, de-distorting the one or more images, color adjusting the one or more images, measuring a thickness of the material, correcting for a variable alignment between a position of a source of electromagnetic energy and a location where electromagnetic energy is emitted, correcting for surface topography, and correcting for capturing a side view of the material having a thickness that is viewed from the camera. ### Claim 6 (depends on 1) The method of claim 1, further comprising: generating a preview comprising a view of the material and one or more features of a design to be cut into the material, the one or more features reflecting at least the mapping relationship between the pixel in the one or more images and the location within the computer-numerically-controlled machine, the location corresponding to a location to which electromagnetic energy is delivered in order to effect at least one change in the material. ### Claim 7 (depends on 1) The method of claim 1, wherein the capturing of the one or more images comprises: capturing a first image with a first camera; and directing, based at least in part on the first image, a second camera to capture a second image. ### Claim 8 (depends on 7) The method of claim 7, further comprising: determining a location of the second camera based at least on the first image and/or the second image. ### Claim 9 (depends on 1) The method of claim 1, wherein the creation of the mapping relationship further comprises compensating for a deviation between a source of electromagnetic energy within the computer-numerically-controlled machine and a location to which the electromagnetic energy is delivered. ### Claim 10 (depends on 1) The method of claim 1, wherein the image includes one or more unique patterns from a calibration tool that includes a plurality of unique patterns, and wherein mapping relationship is created based at least on a location of the one or more unique patterns within the calibration tool. ### Claim 11 A system comprising: at least one data processor; and at least one memory including instructions which, when executed by the at least one data processor, cause operations comprising: capturing one or more images of at least a portion of a computer-numerically-controlled machine, the one or more images being captured with at least one camera located inside an enclosure containing a material bed; and creating a mapping relationship that maps a pixel in the one or more images to a location within the computer-numerically controlled machine, the creation of the mapping relationship comprising 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. ### Claim 12 (depends on 11) The system of claim 11, wherein the computer-numerically-controlled machine includes at least one tool configured to deliver electromagnetic energy to at least one location on the material positioned on the material bed. ### Claim 13 (depends on 11) The system of claim 11, wherein the one or more physical parameters of the computer-numerically-controlled machine and/or the material comprise one or more of a shape of the material bed, lighting conditions within a housing of the computer-numerically-controlled machine, a thickness of the material, and a height of an upper surface of the material relative to the material bed. ### Claim 14 (depends on 11) The system of claim 11, further comprising: mapping, based on the mapping relationship, a pixel coordinate in the one or more images to a location coordinate in the computer-numerically-controlled machine; converting an instruction corresponding to the pixel coordinate to a command for execution at the location, the conversion based at least on the mapping of the pixel coordinate in the one or more images to the location coordinate in the computer-numerically-controlled machine; and executing the command as part of a motion plan for the computer-numerically-controlled machine. ### Claim 15 (depends on 11) The system of claim 11, wherein the compensation comprises at least one of: de-warping the one or more images, de-distorting the one or more images, color adjusting the one or more images, measuring a thickness of the material, correcting for a variable alignment between a position of a source of electromagnetic energy and a location where electromagnetic energy is emitted, correcting for surface topography, and correcting for capturing a side view of the material having a thickness that is viewed from the camera. ### Claim 16 (depends on 11) The system of claim 11, further comprising: generating a preview comprising a view of the material and one or more features of a design to be cut into the material, the one or more features reflecting at least the mapping relationship between the pixel in the one or more images and the location within the computer-numerically-controlled machine, the location corresponding to a location to which electromagnetic energy is delivered in order to effect at least one change in the material. ### Claim 17 (depends on 11) The system of claim 11, wherein capturing the one or more images comprises: capturing a first image with a first camera; and directing, based at least in part on the first image, a second camera to capture a second image. ### Claim 18 (depends on 11) The system of claim 11, wherein the creating further comprises compensating for a deviation between a source of electromagnetic energy within the computer-numerically-controlled machine and a location to which the electromagnetic energy is delivered. ### Claim 19 (depends on 11) The system of claim 11, wherein the image includes one or more unique patterns from a calibration tool that includes a plurality of unique patterns, and wherein mapping relationship is created based at least on a location of the one or more unique patterns within the calibration tool. ### Claim 20 A non-transitory computer medium including program code which, when executed by at least one data processor, cause operations comprising: capturing one or more images of at least a portion of a computer-numerically-controlled machine, the one or more images being captured with at least one camera located inside an enclosure containing a material bed; and creating a mapping relationship that maps a pixel in the one or more images to a location within the computer-numerically controlled machine, the creation of the mapping relationship comprising 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.