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公开(公告)号：US09914150B2
公开(公告)日：2018-03-13
申请号：US14267740
申请日：2014-05-01
IPC分类号： B05B15/10 , B05B12/12 , B05B13/04 , B05D1/02 , B05B12/08 , B05B13/00 , G01B11/00 , B05B12/00 , B41J3/407 , G01S17/66 , G01S5/02 , G01S19/38 , H04N13/02
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 comprising a base structure with a trackable optical feature, at least one nozzle for expelling paint, a driving unit for positioning the nozzle and a local camera for a local referencing of the nozzle. A controller controls the driving unit and the expelling of the nozzle to achieve an application of the desired pattern on the target surface. The system also comprises an external referencing device located remote from the graphical application device, for a global referencing of the application device according to the trackable optical feature. The desired pattern is applied with a primary alignment of the application range by the global referencing and with a fine-alignment of the actual tile to a previously applied tile according to the local referencing.
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公开(公告)号：US09683833B2
公开(公告)日：2017-06-20
申请号：US14398420
申请日：2013-05-02
发明人： Bo Pettersson , Knut Siercks , Eugen Voit , Jürg Hinderling , Benedikt Zebhauser , Klaus Schneider
IPC分类号： H04N7/00 , G01B11/14 , G01S17/06 , G01S17/87 , G01S17/89 , G01S5/16 , G01S7/48 , G01S7/51 , G06F3/01 , G06F3/03 , H04N5/232 , G01C11/02 , G01C15/02
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： Embodiments described herein include a surveying apparatus for surveying a measurement scenery. The surveying apparatus may include a base defining a vertical axis; a support tiltable around the vertical axis; a telescope unit tiltable around the vertical axis and around a horizontal axis that is orthogonal to the vertical axis and comprises means for distance measurement; motor means for rotational driving of the support and the telescope unit; and angle determination means for detecting an orientation of the telescope unit with respect to the base. In some embodiments, the telescope unit comprises 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. In some embodiments, the surveying apparatus comprises a display capable to display at least a portion of the visible image taken by the first camera and/or at least a portion of the 3D-points.
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公开(公告)号：US09443308B2
公开(公告)日：2016-09-13
申请号：US14363102
申请日：2012-12-05
发明人： Bo Pettersson , Knut Siercks , Eugen Voit , Jürg Hinderling , Benedikt Zebhauser , Klaus Schneider
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 known shape in a scenery is disclosed. The method includes taking a range image with a range imaging camera and a visual picture with a digital camera. The range imaging camera includes a sensor array with a first number of pixels. Determining a 3D cluster of points from range information collected from the sensor array to a point of the scenery. the digital camera comprises an image sensor having a second number of pixels, resulting in a 2D picture. A stored 3D digital representation of the known shape may be fitted in a virtual space to match 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 according to the virtual match.
摘要翻译： 公开了一种用于风景中已知形状的六自由度位置和方位确定的方法。 该方法包括使用数码相机拍摄距离成像相机和视觉图像的范围图像。 范围成像照相机包括具有第一数量像素的传感器阵列。 确定从传感器阵列收集的范围信息到景点的点的3D聚类。 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。 已知形状的存储的3D数字表示可以被拟合在虚拟空间中以匹配2D图像中的已知对象的再现和3D聚类的点，并且根据所述3D图像确定已知形状的六个自由度位置和取向 虚拟匹配。
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公开(公告)号：US20150085110A1
公开(公告)日：2015-03-26
申请号：US14398420
申请日：2013-05-02
发明人： Bo Pettersson , Knut Siercks , Eugen Voit , Jürg Hinderling , Benedikt Zebhauser , Klaus Schneider
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： Embodiments described herein include a surveying apparatus for surveying a measurement scenery. The surveying apparatus may include a base defining a vertical axis; a support tiltable around the vertical axis; a telescope unit tiltable around the vertical axis and around a horizontal axis that is orthogonal to the vertical axis and comprises means for distance measurement; motor means for rotational driving of the support and the telescope unit; and angle determination means for detecting an orientation of the telescope unit with respect to the base. In some embodiments, the telescope unit comprises 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. In some embodiments, the surveying apparatus comprises a display capable to display at least a portion of the visible image taken by the first camera and/or at least a portion of the 3D-points.
摘要翻译： 本文描述的实施例包括用于测量测量风景的测量装置。 测量装置可以包括限定垂直轴的基座; 支撑件可绕垂直轴线倾斜; 望远镜单元可围绕竖直轴线和围绕垂直于垂直轴线的水平轴线倾斜并且包括用于距离测量的装置; 用于支撑和望远镜单元的旋转驱动的电机装置; 以及用于检测望远镜单元相对于基座的取向的角度确定装置。 在一些实施例中，望远镜单元包括能够拍摄测量风景的可见图像的第一相机和/或用于捕获测量风景的3D点的坐标的装置。 在一些实施例中，测量装置包括能够显示由第一相机拍摄的可视图像的至少一部分和/或3D点的至少一部分的显示器。
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公开(公告)号：US11340056B2
公开(公告)日：2022-05-24
申请号：US16666165
申请日：2019-10-28
发明人： Laurent Desforges , Heinz Lippuner , Knut Siercks , Thibault Duportal , Denis Roux , Jean-Luc Famechon
摘要： A method of operating an articulated arm CMM is provided. One or more coordinates on an object can be measured with the articulated arm CMM. At least one of the encoders can then be at least partially powered-off. The encoder can then be powered on and one or more coordinates on the same object can be measured without recalibrating the encoder.
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公开(公告)号：US10605602B2
公开(公告)日：2020-03-31
申请号：US16387398
申请日：2019-04-17
发明人： Knut Siercks , Bernhard Metzler , Elmar Vincent Van Der Zwan , Thomas Fidler , Roman Parys , Alexander Velizhev , Jochen Scheja
IPC分类号： G01C15/00 , G06T7/00 , G01S19/14 , G01S19/13 , H04N5/225 , G06T7/579 , G06T7/70 , H04N5/232 , H04N5/247 , G01C11/02 , G01C11/04
摘要： A system is disclosed that comprises a camera module and a control and evaluation unit. The camera module is designed to be attached to the surveying pole and comprises at least one camera for capturing images. The control and evaluation unit has stored a program with program code so as to control and execute a functionality in which a series of images of the surrounding is captured with the at least one camera; a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a reference point field is built up and poses for the captured images are determined; and, based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding can be computed by forward intersection using the series of images, particularly by using dense matching algorithm.
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公开(公告)号：US10371518B2
公开(公告)日：2019-08-06
申请号：US16197071
申请日：2018-11-20
发明人： Knut Siercks , Bernhard Metzler , Elmar Vincent Van Der Zwan , Thomas Fidler , Roman Parys , Alexander Velizhev , Jochen Scheja
IPC分类号： G01C15/00 , G06T7/00 , G01S19/13 , H04N5/225 , G06T7/579 , G06T7/70 , H04N5/232 , H04N5/247 , G01C11/02 , G01C11/04 , G01S19/14
摘要： A system is disclosed that comprises a camera module and a control and evaluation unit. The camera module is designed to be attached to the surveying pole and comprises at least one camera for capturing images. The control and evaluation unit has stored a program with program code so as to control and execute a functionality in which a series of images of the surrounding is captured with the at least one camera; a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a reference point field is built up and poses for the captured images are determined; and, based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding can be computed by forward intersection using the series of images, particularly by using dense matching algorithm.
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公开(公告)号：US10184809B2
公开(公告)日：2019-01-22
申请号：US15051597
申请日：2016-02-23
发明人： Robert Fritsch , Knut Siercks
摘要： System for determining positions along a direction of advance, having a first sensor, particularly a line sensor, having a scanning length (L) for scanning a first 2D pattern and producing a scan signal. The first 2D pattern has pattern elements that each form a first code word on at least one portion of the scanning length (L), which first code word codes a position along the direction of advance absolutely. In addition, the first code word can be taken as a basis for determining a deviation from an ideal position for the first sensor in relation to the first 2D pattern.
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公开(公告)号：US10041788B2
公开(公告)日：2018-08-07
申请号：US14440642
申请日：2013-10-31
发明人： Bo Pettersson , Knut Siercks , Eugen Voit , Jürg Hinderling , Klaus Schneider , Benedikt Zebhauser
摘要： Some embodiments of the invention relate to an optical measuring device for determining 3D coordinates of an object. The optical measuring device may include a projector device for illuminating the object with at least one predefined pattern; at least one PSA camera for capturing a 2D image of the pattern as reflected from the object; computing means for measuring a sequence of brightness values of at least one 2D image point from the 2D images, and calculating a 3D coordinate of an object point which is correlated with the measured sequence of brightness values of the 2D image point. The optical measuring device may also include a TOF camera for capturing at least one range image of the object, the range image including distance information of the object for the dissolution of ambiguity in calculating the 3D coordinate.
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20.发明授权公开(公告)号：US09638550B2
公开(公告)日：2017-05-02
申请号：US14625318
申请日：2015-02-18
发明人： Urs Vokinger , Heinz Lippuner , Werner Amann , Knut Siercks
IPC分类号： G01D5/347
CPC分类号： G01D5/34746 , G01D5/34707
摘要： System for determining relative positions comprising an encoder having encoder elements, and a sensor unit having a first sensor and at least one second sensor. The sensor unit and the encoder are movable relative to one another and their position relative to one another is determinable by the system. The first sensor and second sensor have a sensor distance with respect to one another. The sensor furthermore has a component composed of a dimensionally stable and aging-resistant material having a coefficient of thermal expansion which, in terms of absolute value, is in a range of 0 to 5·10−6K−1. The sensor distance is determinable highly precisely by the component by virtue of the component serving for the positional fixing of the sensors or by virtue of the component having a scale with the aid of which the sensor distance can be measured.
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