公开(公告)号：US20070064246A1

公开(公告)日：2007-03-22

申请号：US10595185

申请日：2004-09-21

申请人： Bernhard Braunecker ,  Bernhard Gachter ,  Beat Aebischer

发明人： Bernhard Braunecker ,  Bernhard Gachter ,  Beat Aebischer

IPC分类号： G01B11/14

CPC分类号： G01C15/002 ,  G01S17/06

摘要： The aim of the invention is to determine the actual position and/or actual orientation of a measuring appliance (4b). To this end, at least two reference points (2b′) lying in a spatial segment (5′) scanned by a laser beam are detected and measured in terms of the distance thereinbetween and the inclination angle thereof. The actual position of the measuring appliance (4b) can be deduced from the known positions of said reference points (2b′) arranged in a detectable manner and the associated distances and inclination angle thereof. The detection, monitoring and measuring of the reference points is carried out by the measuring appliance (4b) in an automated manner, the measuring appliance (4b) and specifically embodied elements associated with the reference points (2b′) forming a local positioning and/or orientation measuring system. The inventive method and corresponding devices enable measurements to be carried out in a problem-free and automated manner, even in areas that cannot be accessed by other measuring systems.

摘要翻译： 本发明的目的是确定测量仪器（4b）的实际位置和/或实际方位。 为此，通过激光束扫描的位于空间段（5'）中的至少两个参考点（2b'）根据其中的距离和其倾斜角度被检测和测量。 测量仪器（4b）的实际位置可以从以可检测方式布置的所述参考点（2b'）的已知位置及其相关联的距离和倾斜角度推导出来。 参考点的检测，监测和测量由测量仪器（4b）以自动方式进行，测量仪器（4b）和与参考点（2b'）相关联的具体实施元件形成局部 定位和/或定位测量系统。 本发明的方法和相应的装置使得能够以无问题和自动化的方式进行测量，即使在其它测量系统无法访问的区域中也是如此。

公开(公告)号：US06671058B1

公开(公告)日：2003-12-30

申请号：US09666834

申请日：2000-09-21

申请人： Bernard Braunecker ,  Beat Aebischer ,  Raphael Appius

发明人： Bernard Braunecker ,  Beat Aebischer ,  Raphael Appius

IPC分类号： G01B1114

CPC分类号： G01S5/163 ,  G01C15/00

摘要： The invention relates to a method for determining the spatial and rotational positions of an object. With the assistance of an imaging optical system, the object is mapped and detected on a high-sensitivity resolution optoelectronic detector. The location parameter of the object, such as the position vector ({overscore (r)}0), the direction vector ({overscore (&ngr;)}) of the object axis, and the angle (&kgr;) of rotation of the object around the object axis is determined from the planar position of the mapped object structures in the coordinate system (XDet, YDet) of the detector by means of geometric optical relationships and mathematical evaluation methods. With this, the spatial position of the object is determined in a quick and contactless manner.

摘要翻译： 本发明涉及一种用于确定物体的空间和旋转位置的方法。 在成像光学系统的帮助下，物体被映射和检测在高灵敏度分辨率光电检测器上。 确定对象的位置参数，例如位置矢量（{overscore（r0）），对象轴的方向向量（{overscore（nu））和物体围绕物轴的旋转角度（kappa）被确定 通过几何光学关系和数学评估方法从检测器的坐标系（XDet，YDet）中的映射对象结构的平面位置，以快速，非接触的方式确定对象的空间位置。

公开(公告)号：US08798794B2

公开(公告)日：2014-08-05

申请号：US13322123

申请日：2010-05-26

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： B25J13/08 ,  B25J19/04 ,  B25J9/16 ,  G06T7/00

CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值和与位置差有关的值。 将工业机器人移动到新的目标位置。

公开(公告)号：US08346392B2

公开(公告)日：2013-01-01

申请号：US12810797

申请日：2008-12-17

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： G05B19/00

CPC分类号： B25J9/1697

摘要： The invention relates to a method and a system for the high-precision positioning of at least one object in a final location in space. An object (12) is gripped and held by the industrial robot (11) within a gripping tolerance. A compensating variable, which corrects the gripping tolerance, is determined for the industrial robot (11). The object (12) is adjusted with high precision into a final location by the following steps, which repeat until reaching the final location at a predetermined tolerance: recording of image recordings by recording units (1a, 1b); determining the current location of the object (12) in the spatial coordinate system from the positions (Pa, Pb) of the recording units (1a, 1b), the angular orientations of cameras (2a, 2b) of the recording units (1a, 1b) which are detected by angle measuring units (4a, 4b), the image recordings, and the knowledge of features (13) on the object (12); calculating the location difference between the current location of the object (12) and the final location; calculating a new target position of the industrial robot (11) in consideration of the compensating variable from the current position of the industrial robot (11) and a variable which is linked to the location difference; adjusting the industrial robot (11) into the new target position.

摘要翻译： 本发明涉及一种用于在空间中的最终位置中对至少一个物体进行高精度定位的方法和系统。 物体（12）由工业机器人（11）夹持并保持在夹紧公差内。 为工业机器人（11）确定校正夹紧公差的补偿变量。 通过以下步骤将物体（12）以高精度调节到最终位置，其重复直到以预定公差到达最终位置：通过记录单元（1a，1b）记录图像记录; 从记录单元（1a，1b）的位置（Pa，Pb）确定物体（12）在空间坐标系中的当前位置，记录单元（1a，1b）的相机（2a，2b） 1b），通过角度测量单元（4a，4b），图像记录和物体（12）上的特征（13）的知识来检测; 计算对象（12）的当前位置与最终位置之间的位置差; 考虑到来自工业机器人（11）的当前位置的补偿变量和与位置差异相关联的变量来计算工业机器人（11）的新目标位置; 将工业机器人（11）调整到新的目标位置。

公开(公告)号：US20120072021A1

公开(公告)日：2012-03-22

申请号：US13322123

申请日：2010-05-26

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： B25J13/08 ,  B25J19/04

CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值以及与位置差有关的值。 将工业机器人移动到新的目标位置。

公开(公告)号：US08031334B2

公开(公告)日：2011-10-04

申请号：US12522198

申请日：2007-12-06

申请人： Heinz Lippuner ,  Knut Siercks ,  Beat Aebischer

发明人： Heinz Lippuner ,  Knut Siercks ,  Beat Aebischer

IPC分类号： G01B11/26

CPC分类号： G01D5/34707 ,  G01D5/24452 ,  G01D5/24466 ,  G01D5/2449 ,  G01D5/3473

摘要： The invention relates to a method for determining at least one influencing variable acting on the eccentricity in a goniometer, using a detector arrangement consisting of four optical detector elements, and a rotational body comprising a plurality of pattern elements arranged around a pattern center, the rotational body being rotatably arranged about an axis. According to said method, at least some of the pattern elements are reproduced on the detector arrangement, the positions of the pattern elements reproduced on the detector arrangement are resolved, and the eccentricity of the pattern center in relation to a detector center of the detector arrangement is determined. A plurality of such eccentricity measurements for different rotational positions enables different influencing variables acting on the current eccentricity to be separated, especially by forming units.

摘要翻译： 本发明涉及一种用于使用由四个光学检测器元件组成的检测器装置来确定作用于测角器中的偏心的至少一个影响变量的方法，以及包括围绕图案中心布置的多个图案元件的旋转体， 主体围绕轴线可旋转地布置。 根据所述方法，在检测器装置上再现至少一些图形元素，解析在检测器装置上再现的图案元素的位置，并且图案中心相对于检测器装置的检测器中心的偏心度 决心，决意，决定。 用于不同旋转位置的多个这种偏心测量使得能够分离作用于当前偏心的不同影响变量，特别是通过形成单元。

公开(公告)号：US07830500B2

公开(公告)日：2010-11-09

申请号：US12091680

申请日：2006-10-28

申请人： Beat Aebischer ,  Heinz Lippuner ,  Bernhard Braunecker

发明人： Beat Aebischer ,  Heinz Lippuner ,  Bernhard Braunecker

IPC分类号： G01B11/26

CPC分类号： G01D5/3473 ,  G01D5/34715 ,  H01L27/307

摘要： An optoelectric angle-measuring device has a code carrier having a position code which can be detected optically as well as a scanning device in the form of a light-sensitive row or area for detecting the position code and generating a position-dependent scanning signal. The scanning device which is in the form of a scanning film, in particular, surrounds the code carrier or the code carrier essentially completely surrounds the scanning device along a circumference. This provides an extremely accurate angle-measuring device by virtue of the fact that a large part of the position code, in particular even the entire position code, can be detected.

摘要翻译： 一种光电角度测量装置具有可以光学检测的位置代码的代码载体以及用于检测位置代码并产生位置相关扫描信号的感光行或区域形式的扫描装置。 扫描薄膜形式的扫描装置尤其围绕编码载体或编码载体，沿着圆周基本上完全围绕扫描装置。 这提供了一种非常精确的角度测量装置，这是因为可以检测到大部分位置代码，特别是整个位置代码。

公开(公告)号：US07742176B2

公开(公告)日：2010-06-22

申请号：US10595185

申请日：2004-09-21

申请人： Bernhard Braunecker ,  Bernhard Gächter ,  Beat Aebischer

发明人： Bernhard Braunecker ,  Bernhard Gächter ,  Beat Aebischer

IPC分类号： G01B11/14

CPC分类号： G01C15/002 ,  G01S17/06

摘要： The aim of the invention is to determine the actual position and/or actual orientation of a measuring appliance (4b). To this end, at least two reference points (2b′) lying in a spatial segment (5′) scanned by a laser beam are detected and measured in terms of the distance thereinbetween and the inclination angle thereof. The actual position of the measuring appliance (4b) can be deduced from the known positions of said reference points (2b′) arranged in a detectable manner and the associated distances and inclination angle thereof. The detection, monitoring and measuring of the reference points is carried out by the measuring appliance (4b) in an automated manner, the measuring appliance (4b) and specifically embodied elements associated with the reference points (2b′) forming a local positioning and/or orientation measuring system. The inventive method and corresponding devices enable measurements to be carried out in a problem-free and automated manner, even in areas that cannot be accessed by other measuring systems.

摘要翻译： 本发明的目的是确定测量仪器（4b）的实际位置和/或实际取向。 为此，根据其中的距离和其倾斜角来检测和测量位于由激光束扫描的空间段（5'）中的至少两个参考点（2b'）。 测量仪器（4b）的实际位置可以从以可检测方式布置的所述参考点（2b'）的已知位置及其相关联的距离和倾斜角度推导出来。 参考点的检测，监测和测量由测量仪器（4b）以自动方式进行，测量仪器（4b）和与参考点（2b'）相关联的具体实施元件形成局部定位和/ 或方向测量系统。 本发明的方法和相应的装置使得能够以无问题和自动化的方式进行测量，即使在其它测量系统无法访问的区域中也是如此。

公开(公告)号：US07671971B2

公开(公告)日：2010-03-02

申请号：US11576794

申请日：2005-09-29

申请人： Beat Aebischer ,  Marcel Rohner

发明人： Beat Aebischer ,  Marcel Rohner

IPC分类号： G01C3/08

CPC分类号： G01S17/325 ,  G01S7/352 ,  G01S7/4915 ,  G01S7/497 ,  G01S13/343

摘要： The invention relates to an electro-optical distance measuring method wherein frequency-modulated optical radiation is emitted onto at least one target to be measured. Once the radiation back-scattered to the target is received, the chirp of radiation is modeled by means of a phase function Φ(t) having parameters cj, thereby making description of the deviation of the chirp from the linear profile possible. The parameters used for description are at least partially determined from measurements or are coestimated during numerical signal processing.

摘要翻译： 本发明涉及一种电光距离测量方法，其中调频光辐射被发射到至少一个待测目标上。 一旦接收到对目标的反向散射的辐射，通过具有参数cj的相位函数Φ（t）对辐射的啁啾进行建模，从而描述啁啾与线性轮廓的偏差是可能的。 用于描述的参数至少部分地由测量确定或在数字信号处理期间被遗忘。

公开(公告)号：US20090231582A1

公开(公告)日：2009-09-17

申请号：US11908792

申请日：2006-03-03

申请人： Beat Aebischer ,  Bernhard Braunecker ,  Peter Kipfer

发明人： Beat Aebischer ,  Bernhard Braunecker ,  Peter Kipfer

IPC分类号： G01S17/42 ,  G01B11/26 ,  G01J4/00

CPC分类号： G01S17/42 ,  G01C15/002

摘要： The invention relates to a positioning method for determining the position and orientation of a mobile unit having a receiver (3′, whereby the receiver (3) is detected by a scanner (2), said scanner (2′ determining at least the distance and a direction in relation to the receiver (3). The radiation emitted by the sensor is detected by the receiver (3′ and the direction of incidence of radiation and the direction of incidence of radiation in relation to an axis of reception are derived while an offset of the incident radiation in relation to the axis of reception (EA) is determined. Position and orientation of the unit are derived from at least the distance, the direction in relation to the receiver (3′), the offset and the direction of incidence as the position information and the unit is optionally controlled via the optical connection (OV).

摘要翻译： 本发明涉及一种用于确定具有接收器（3'）的移动单元的位置和方位的定位方法，由此由扫描器（2）检测接收器（3），所述扫描器（2'至少确定距离和 由传感器发射的辐射由接收器（3'和辐射入射方向）检测，辐射相对于接收轴的入射方向得到，而 确定入射辐射相对于接收轴（EA）的偏移。单元的位置和取向至少从距离，相对于接收器（3'）的方向，偏移和方向 作为位置信息的入射和可选地通过光学连接（OV）控制该单元。