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公开(公告)号：EP2899501A1
公开(公告)日：2015-07-29
申请号：EP15151841.2
申请日：2012-12-06
发明人： Pettersson, Bo , Siercks, Knut , Voit, Eugen , Hinderling, Jürg , Zebhauser, Benedikt , Schneider, Klaus , Jordil, Pascal
IPC分类号： G01B21/04 , G01B11/00 , G05B19/401 , G06F3/00 , G06F3/03
CPC分类号： G01B11/005 , G01B21/047 , G05B19/401 , G05B2219/37193 , G05B2219/37237 , G06F3/005 , G06F3/0304 , Y02P90/265
摘要： A coordinate measuring machine (1,2) for determining at least one spatial coordinate of a measurement point of an object (15) to be measured, comprising a measuring volume representing a particular volume as to a design of the coordinate measuring machine (1,2), inside which at least one spatial coordinate of the measurement point is determinable, characterised by a first camera (50-52), wherein the camera (50-52) is adapted to be directed to the measuring volume for providing at least a first image of at least a first part of the measuring volume, and a controller, adapted to control a drive mechanism on the basis of image data derived from the at least first image and adapted for execution of a measuring mode for precisely determining the at least one spatial coordinate of the object to be measured, on execution of which a probe head (13) is guided relatively to the object (15) on a predefined measurement path and the at least one spatial coordinate of the measurement point of the object is derived from a measurement to the measurement point, and an object-determination functionality, on execution of which surface data related to a surface of a body inside the measuring volume is derived from at least the first image by image processing as the image data and controlling information is derived depending on the surface data for controlling the guidance of the probe head (13), wherein the object-determination functionality is executed in advance of the measuring mode and the controlling information is provided for execution of the measuring mode.
摘要翻译： 1.一种坐标测量机（1,2），用于确定要测量的物体（15）的测量点的至少一个空间坐标，包括表示关于坐标测量机（1）的设计的特定体积的测量体积， 2），其中所述测量点的至少一个空间坐标是可确定的，其特征在于第一相机（50-52），其中所述相机（50-52）适于被引导到所述测量体积，以提供至少一个 至少测量体积的第一部分的第一图像和控制器，其适于基于从至少第一图像导出的图像数据来控制驱动机构，并适于执行用于精确地确定至少 探测头（13）在预定义的测量路径上相对于对象（15）被引导到被测物体的一个空间坐标，并且测量点的测量点的至少一个空间坐标 ject是从测量点导出的，并且在执行与测量体积内的身体表面相关的表面数据的对象确定功能从至少第一图像通过图像处理导出为图像数据 并且根据用于控制探头（13）的引导的表面数据导出控制信息，其中在测量模式之前执行对象确定功能，并且提供控制信息以执行测量模式。
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公开(公告)号：EP2641661B1
公开(公告)日：2016-05-11
申请号：EP12160353.4
申请日：2012-03-20
CPC分类号： B05B12/124 , B05B12/00 , B05B12/1472 , B41J3/4073 , G01B11/03
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公开(公告)号：EP2799150A1
公开(公告)日：2014-11-05
申请号：EP13166334.6
申请日：2013-05-02
CPC分类号： B05D1/02 , B05B12/00 , B05B12/084 , B05B12/122 , B05B12/124 , B05B13/005 , B05B13/04 , B05B13/0405 , B05B15/70 , B41J3/407 , B41J3/4073 , G01B11/002 , G01S5/02 , G01S17/66 , G01S19/38 , H04N13/246
摘要： The invention relates to a graphical application system to apply a desired pattern by multiple tiles onto a target surface.
The system comprises a graphical application device (1) comprising a base structure (11) with a trackable optical feature (15), at least one nozzle (17) for expelling paint, a driving unit (12) for positioning the nozzle (1) and a local camera (14) for a local referencing of the nozzle (17) with respect to a visual feature. A controller (4) controls the driving unit (12) and the expelling of the nozzle (17) to achieve an application of the desired pattern on the target surface (3).
The system also comprises an external referencing device (2) located remote from the graphical application device (1), for a global referencing of the application device (1) according to the trackable optical feature.
The desired pattern (5) is applied with a primary alignment of the application range (13) by the global referencing and with a fine-alignment of the actual tile (9) to a previously applied tile (8) according to the local referencing.摘要翻译： 本发明涉及一种通过多个瓦片将期望的图案应用到目标表面上的图形应用系统。 该系统包括图形应用装置（1），其包括具有可跟踪光学特征（15）的基座结构（11），用于排出涂料的至少一个喷嘴（17），用于定位喷嘴（1）的驱动单元（12） 以及用于相对于视觉特征局部地引用喷嘴（17）的本地照相机（14）。 控制器（4）控制驱动单元（12）和排出喷嘴（17）以实现在目标表面（3）上所需图案的应用。 该系统还包括位于远离图形应用设备（1）的外部参考设备（2），用于根据可跟踪光学特征对应用设备（1）进行全局参考。 通过全局参考将所需图案（5）应用于应用范围（13）的主要对准，并且根据本地参考，将实际瓦片（9）的精细对准应用于先前应用的瓦片（8）。
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公开(公告)号：EP2641661A1
公开(公告)日：2013-09-25
申请号：EP12160353.4
申请日：2012-03-20
CPC分类号： B05B12/124 , B05B12/00 , B05B12/1472 , B41J3/4073 , G01B11/03
摘要： The invention concerns a graphical application system, with a surface spattering device (9), that comprises at least one nozzle means (1) for an expelling of a spattering material (2) onto a target surface (3), a nozzle control mechanism (4) to control characteristics of the expelling of the nozzle means (1), a spattering material supply (5), a spatial referencing unit (30) to reference the spattering device (9) in space for determining its position and orientation and a computation means (8) to automatically control the expelling by the nozzle control mechanism (4) according to information gained by the spatial referencing unit (30) and according to predefined desired spattering data (6), wherein the spatial referencing unit (30) is located remote from the spattering device (9) and comprises at least two optical 2D cameras (31) arranged with a stereobasis inbetween the cameras, for determining the position and orientation by digital image processing of images taken by the cameras (31).
摘要翻译： 本发明涉及具有表面溅射装置（9）的图形应用系统，其包括用于将溅射材料（2）排出到目标表面（3）上的至少一个喷嘴装置（1），喷嘴控制机构 4）控制喷嘴装置（1）的排出，飞溅材料供应（5），空间参考装置（30）的空间中用于确定其位置和取向的空间参考装置（30）的特性和计算 用于根据由空间参考单元（30）获得的信息并根据预定的期望的飞溅数据（6）来自动控制由喷嘴控制机构（4）排出的装置（8），其中空间参考单元（30）位于 远离喷溅装置（9）并且包括在相机之间布置有立体定位的至少两个光学2D相机（31），用于通过由相机（31）拍摄的图像的数字图像处理来确定位置和取向， 。
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5.发明公开Surface spraying device with a nozzle control mechanism and a corresponding method 审中-公开与用于喷嘴的控制机构表面喷射装置和相应的方法
公开(公告)号：EP2433716A1
公开(公告)日：2012-03-28
申请号：EP10178353.8
申请日：2010-09-22
IPC分类号： B05B12/12
CPC分类号： B05B12/124 , B05B7/0846 , B05B12/00 , B05B12/084 , B05B12/12 , B05B12/122 , B05B12/1472 , B05B13/04 , B41J3/4073 , G01B11/002 , G01S5/02 , G01S19/38 , H04N13/246
摘要： The invention concerns a handheld, dynamically movable surface spattering device, comprising at least one nozzle means for an expelling of a spattering material onto a target surface and a nozzle control mechanism to control characteristics of the expelling of the nozzle means. Furthermore, it comprises a spattering material supply, a storage foreseen for a set of desired spattering data, a spatial referencing unit, to reference the spattering device relative to the target surface and a computation means to automatically control the expelling by the nozzle control mechanism according to information gained by the spatial referencing unit and according to the desired spattering data.
According to the invention, an actual spattering spot, as the actually spatterable area on the target surface, which is dependent on the actually spatial reference of the spattering device, the actually set of characteristics of the expelling of the nozzle means (1) and a actually measured or calculated distance and inclination of the nozzle means relative to the target surface, is evaluated and adjusted by changing the characteristics of expelling of the nozzle means in such a way that a spattering of the target surface according to the desired spattering data is achieved.摘要翻译： 本发明涉及一种手持式，动态可动表面喷涂装置，包括：用于到目标表面上与一个喷嘴控制机构，以控制喷嘴装置的所述排出的特性的溅射材料的排出手段的至少一个喷嘴。 进一步地，它包括溅射材料供应，预计用于一组期望的喷涂数据，一个空间参考单元，以相对于目标表面的溅射装置中引用的存储和计算装置，以自动地控制由喷嘴控制机构gemäß驱逐 由空间参考单元和gemäß获得了期望的溅射数据的信息。 。根据本发明，实际的溅射点的，作为目标表面上的实际上spatterable区域，所有这些依赖于溅射装置的实际上空间参考，实际设置的所述喷嘴装置的所述排出的特性（1）和一个 实际测量或计算的距离和所述喷嘴的倾斜装置相对于所述目标表面，被评估和调整通过改变在寻求一种方式所述喷嘴装置的排出的特性做了目标表面雅丁到期望的溅射数据的溅射实现 ，
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公开(公告)号：EP2799150B1
公开(公告)日：2016-04-27
申请号：EP13166334.6
申请日：2013-05-02
CPC分类号： B05D1/02 , B05B12/00 , B05B12/084 , B05B12/122 , B05B12/124 , B05B13/005 , B05B13/04 , B05B13/0405 , B05B15/70 , B41J3/407 , B41J3/4073 , G01B11/002 , G01S5/02 , G01S17/66 , G01S19/38 , H04N13/246
摘要： The invention relates to a graphical application system to apply a desired pattern by multiple tiles onto a target surface. The system comprises a graphical application device (1) comprising a base structure (11) with a trackable optical feature (15), at least one nozzle (17) for expelling paint, a driving unit (12) for positioning the nozzle (1) and a local camera (14) for a local referencing of the nozzle (17) with respect to a visual feature. A controller (4) controls the driving unit (12) and the expelling of the nozzle (17) to achieve an application of the desired pattern on the target surface (3). The system also comprises an external referencing device (2) located remote from the graphical application device (1), for a global referencing of the application device (1) according to the trackable optical feature. The desired pattern (5) is applied with a primary alignment of the application range (13) by the global referencing and with a fine-alignment of the actual tile (9) to a previously applied tile (8) according to the local referencing.
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7.发明公开Method and device for determining 3D coordinates of an object 审中-公开Verfahren und Vorrichtung zur Bestimmung der 3D-Koordinaten eines Objekts
公开(公告)号：EP2602587A1
公开(公告)日：2013-06-12
申请号：EP11192217.5
申请日：2011-12-06
发明人： Pettersson, Bo , Siercks, Knut , Voit, Eugen , Hinderling, Jürg , Zebhauser, Benedikt , Schneider, Klaus
CPC分类号： G01B11/002 , G01C15/002 , G01S17/023 , G01S17/87 , G01S17/89
摘要： The invention relates to a method for determining 3D coordinates of an object (2) by a handheld optical measuring means (1). The method comprises the step of determining an object point (20) at the object (2); the step of measuring a distance (100) from the handheld optical measuring means (1) to the determined object point (20); capturing a 3D image (110) of the object (2), the 3D image (110) includes the determined object point (20); the step of identifying the determined object point (20) in the captured 3D image (110); and the step of linking the measured distance (100) with the identified object point (20) in the 3D image (110).
摘要翻译： 本发明涉及一种通过手持式光学测量装置（1）确定对象（2）的3D坐标的方法。 该方法包括确定对象（2）处的对象点（20）的步骤; 测量从手持式光学测量装置（1）到确定的对象点（20）的距离（100）的步骤; 捕获对象（2）的3D图像（110），3D图像（110）包括确定的对象点（20）; 识别捕获的3D图像（110）中确定的对象点（20）的步骤; 以及将测量距离（100）与所识别的对象点（20）连接在3D图像（110）中的步骤。
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8.发明公开Method and device for determining three-dimensional coordinates of an object 审中-公开用于确定对象的三维坐标的方法和装置
公开(公告)号：EP2728306A1
公开(公告)日：2014-05-07
申请号：EP12191195.2
申请日：2012-11-05
发明人： Pettersson, Bo , Siercks, Knut , Voit, Eugen , Hinderling, Jürg , Schneider, Klaus , Zebhauser, Benedikt
CPC分类号： G01B11/2545 , G01B11/002 , G01C15/00 , G01C15/002 , G01S17/89
摘要： The invention relates to an optical measuring device (1) for determining 3D coordinates of an object (2), comprising a projector device (11) for illuminating the object (2) with at least one predefined pattern (10); at least one PSA camera (12, 12') for capturing a 2D image (120) of the pattern (10) as reflected from the object (2); computing means (18) for measuring a sequence of brightness values (180, 180', 180") of at least one 2D image point (121, 121') from the 2D images (120, 120'); and calculating a 3D coordinate (21) of an object point (20) which is correlated with the measured sequence of brightness values (180, 180', 180") of the 2D image point (121, 121'), characterized by a range camera (13) for capturing at least one range image (133) of the object (2), the range image (133) including distance information (133') of the object (2) for the dissolution of ambiguity in calculating the 3D coordinate. The invention also relates to a method for determining 3D coordinates of an object (2) by said optical measuring device (1), the method comprising a structured-light measurement and capturing with a range camera (13) at least one range image (133) of the object (2), the range image (133) including distance information (133') of a plurality of points of the object (2).
摘要翻译： 本发明涉及用于（2），其包括投影仪装置（11）的对象的确定性采矿3D坐标的光学测量装置（1）上，用于照明所述对象（2）具有至少一个预定义模式（10）; 如从所述对象（2）反射的捕获图案（10）的2D图像（120）的至少一个PSA摄像机（12，12“）; 用于测量亮度值的序列（180,180” 180“）中的至少一个2D图像点（121，121' 由2D图像（120，120“））的计算装置（18）;以及计算一个三维坐标 （21）的物点（20），所有这些与2D图像点（121，121“），通过一系列照相机（13），其特征的亮度值（180，180”，180' ）的所测量的序列进行相关于 捕获对象中的至少一个范围图像（133）（2）的范围内，图像（133）包括对模糊的在计算三维坐标的溶解所述对象（2）的距离信息（133“）。 因此本发明涉及一种用于由所述光学测量装置中的对象（2）的确定性采矿3D坐标的方法（1），所述方法包括结构光测量和与一系列照相机（13）的至少一个范围图像捕捉（133 ）所述对象（2）的范围内，图像（133）包括所述对象（2）的点的多个距离信息（133“）。
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公开(公告)号：EP2662705A1
公开(公告)日：2013-11-13
申请号：EP12167004.6
申请日：2012-05-07
发明人： Pettersson, Bo , Siercks, Knut , Voit, Eugen , Hinderling, Jürg , Zebhauser, Benedikt , Schneider, Klaus
IPC分类号： G01S17/89 , G01S17/87 , G01S5/16 , G01S7/51 , G01S17/06 , G01S7/48 , G06F3/00 , G06T7/00 , G06F3/01 , G06F3/03 , G06F3/042
CPC分类号： G01B11/14 , G01C11/02 , G01C15/02 , G01S5/16 , G01S7/4808 , G01S7/51 , G01S17/06 , G01S17/87 , G01S17/89 , G06F3/017 , G06F3/0304 , H04N5/23293
摘要： Surveying apparatus (1) for surveying a measurement scenery, comprising a first camera capable to take a visible image of the measurement scenery and/or means for capturing coordinates of 3D-points of the measurement scenery, and a display (3) capable to display at least a portion of the visible image taken by the first camera and/or the 3D-points, respectively, characterized by a range camera, in particular a RIM-camera, directed towards the display (3) and capable to take a range image of a user (5) positioned at the display (3), wherein a controller is provided, which is capable to analyze the range image with regard to changes caused by a movement of the user (5), and to control the surveying apparatus (1) on the basis of the changes in the range image to perform predetermined tasks.
摘要翻译： 用于测量测量风景的测量装置（1），包括能够拍摄测量风景的可见图像的第一相机和/或用于拍摄测量风景的3D点的坐标的装置，以及能够显示测量风景的显示器 分别由第一相机拍摄的可见图像和/或3D点的至少一部分，其特征在于面向显示器（3）的范围相机，特别是RIM相机，并且能够拍摄范围图像 位于显示器（3）的用户（5），其中提供控制器，其能够针对由用户（5）的移动引起的变化来分析范围图像，并且控制测量装置（ 1）基于范围图像的变化来执行预定任务。
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公开(公告)号：EP2602588A1
公开(公告)日：2013-06-12
申请号：EP11192220.9
申请日：2011-12-06
发明人： Pettersson, Bo , Siercks, Knut , Voit, Eugen , Hinderling, Jürg , Zebhauser, Benedikt , Schneider, Klaus
CPC分类号： G06T7/0044 , E02F3/842 , E02F9/261 , G01C15/002 , G01C15/06 , G06T7/74 , G06T17/00 , G06T2207/10024 , G06T2207/10028
摘要： A method for a six degree of freedom position and orientation determination of a three dimensional known shape in a scenery, by taking a range image by means of a range imaging camera and taking a visual picture by means of a digital camera. The range imaging camera comprises a range image module having a sensor array with a first number of pixels, wherein for each of the first pixels range information from the sensor to a point of the scenery is determined, resulting in a 3D cluster of points. The digital camera comprises an image sensor having a second number of pixels, resulting in a 2D picture. The relation of the first and the second pixels fields of view is known.
The method comprises a geometrically fitting of a stored 3D digital representation of the known shape in a virtual space to match with the reproduction of the known object in the 2D picture and the 3D cluster of points and determining the six degree of freedom position and orientation of the known shape in the scenery according to the virtual match.摘要翻译： 通过借助于距离成像照相机拍摄距离图像并通过数字照相机拍摄视觉图像，来描绘风景中的三维已知形状的六自由度位置和姿态的方法。 所述距离成像照相机包括具有第一数量像素的传感器阵列的距离图像模块，其中，对于所述第一像素中的每一个，确定从所述传感器到所述风景点的范围信息，从而导致3D聚类点。 数字照相机包括具有第二数量像素的图像传感器，得到2D图像。 第一和第二像素视场的关系是已知的。 该方法包括将已知形状的存储的3D数字表示几何拟合到虚拟空间中，以与2D图像中的已知对象和3D聚类点的再现相匹配，并且确定六个自由度的位置和取向 根据虚拟匹配的风景中已知的形状。
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