公开(公告)号：US08199316B2

公开(公告)日：2012-06-12

申请号：US12161227

申请日：2007-02-08

申请人： Stefan Boehm ,  Mark Hellmanns ,  Klaus Dilger ,  Karl-Heinz Brakhage

发明人： Stefan Boehm ,  Mark Hellmanns ,  Klaus Dilger ,  Karl-Heinz Brakhage

IPC分类号： G01B3/08

CPC分类号： G01B11/002 ,  B25J9/1697 ,  G05B19/404 ,  G05B2219/37388 ,  G05B2219/39178 ,  G05B2219/40623

摘要： A description is given of a device (1) for tracking the movement of a tool of a handling unit (2), having at least one directional radiator (5) that can be aligned with the tool and be tracked, and a signal evaluation unit (4) for determining the movement.The directional radiators (5) have actuators for aligning the directional beam (6) at adjustable angles with reference to a fixed spatial plane, and angle sensors for determining the current directional beam angle with reference to the spatial plane, the angle sensors being connected to the signal evaluation unit (4). Directional beam sensors (7) for detecting the directional beam (6) are arranged with a fixed reference to the tool and movably therewith, the directional beam sensors (7) being connected to the signal evaluation unit (4). The signal evaluation unit (4) is set up for tracking the directional beams (6) of the at least one directional radiator (5) onto an assigned, moving directional beam sensor (7), and for determining the arbitrary movement of the tool in three-dimensional space as a function of the directional beam angles.

摘要翻译： 给出了用于跟踪处理单元（2）的工具的移动的装置（1），其具有可与工具对准的并被跟踪的至少一个定向辐射器（5）和信号评估单元 （4）用于确定运动。 定向辐射器（5）具有用于相对于固定空间平面以可调节的角度对准定向光束（6）的致动器，以及用于相对于空间平面确定当前定向光束角度的角度传感器，角度传感器连接到 信号评估单元（4）。 用于检测方向光束（6）的定向光束传感器（7）以固定的参考方式布置并与之一起移动，定向光束传感器（7）连接到信号评估单元（4）。 信号评估单元（4）被设置用于将至少一个定向辐射器（5）的定向波束（6）跟踪到分配的移动定向波束传感器（7）上，并且用于确定工具的任意移动 作为定向光束角度的函数的三维空间。