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公开(公告)号：US09273946B2
公开(公告)日：2016-03-01
申请号：US14323990
申请日：2014-07-03
发明人： Knut Siercks
CPC分类号： G01B7/008 , G01C15/00 , G01D5/2006
摘要： Some embodiments of the invention relate to a location determination apparatus for determining a location of two components relative to one another. The apparatus may comprise at least one location encoder having a read head in cooperation with a code for generating first position determination data at a first measurement frequency. According to some embodiments of the invention, at least one inertial measurement unit is arranged for additionally determining translational and/or rotational accelerations of at least one of the two components and, moreover, for generating second position determination data with respect to the location at a second measurement rate.
摘要翻译： 本发明的一些实施例涉及一种用于确定两个部件相对于彼此的位置的位置确定装置。 该装置可以包括至少一个位置编码器，其具有与用于在第一测量频率处产生第一位置确定数据的代码相配合的读取头。 根据本发明的一些实施例，布置了至少一个惯性测量单元，用于另外确定两个部件中的至少一个部件的平移和/或旋转加速度，此外，还用于生成关于位置的第二位置确定数据 第二测量率。
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公开(公告)号：US20150241203A1
公开(公告)日：2015-08-27
申请号：US14427280
申请日：2013-09-09
发明人： Pascal Jordil , Bo Pettersson , Knut Siercks
CPC分类号： G01B11/005 , B25J9/1623 , B25J9/1697 , G01B5/0004 , G05B2219/39052
摘要： A coordinate measuring machine CMM and a method for gauging a target object by means of said CMM. The CMM comprises a Delta Robot as a support structure having an end effector movable within a motion zone, a tool-holder fixed to the end effector configured to accommodate various measurement probes and especially a camera, wherein the camera comprising an optics having a field of view encompassing maximum 20% of a motion zone of the end effector. Further it comprises a control unit controlling the motion of the end effector within the motion zone and the motion of the measurement probe over a target object in an “on the fly”-mode. Further it comprises an analysing unit for processing electronic signals and/or data delivered by the measurement probe. The analysing unit comprises especially storage means for storing said images and comprising a circuit unit for processing said images.
摘要翻译： 坐标测量机CMM和通过所述CMM来测量目标物体的方法。 CMM包括作为支撑结构的Delta机器人，其具有可在运动区域内移动的末端执行器，固定到端部执行器的工具架，其构造成适应各种测量探针，特别是相机，其中所述相机包括具有 包括末端执行器的运动区域的最大20％的视图。 此外，它包括控制单元，其控制运动区域内的端部执行器的运动和测量探针在“飞行”模式上在目标对象上的运动。 此外，它包括用于处理由测量探针传送的电子信号和/或数据的分析单元。 分析单元特别地包括用于存储所述图像的存储装置，并且包括用于处理所述图像的电路单元。
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23.发明申请公开(公告)号：US20150002840A1
公开(公告)日：2015-01-01
申请号：US14372726
申请日：2013-01-16
发明人： Bo Pettersson , Frank Przygodda , Knut Siercks
IPC分类号： G01B11/26
CPC分类号： G01B11/26 , G01B9/02027 , G01B9/021 , G01C15/002 , G03H1/0005 , G03H1/30 , G03H2001/0033
摘要： Some embodiments of the invention relate to a method for measuring an angle between two spatially separated elements having the steps: preparing a multiplex hologram having a plurality of interference patterns, at least two having different angles of incidence of an object light wave onto a hologram plane; arranging the multiplex hologram in a first element plane on a first element; lighting the multiplex hologram with a reference light wave; arranging a light detector in a second element plane on a second element; detecting a reference light wave refracted on an interference pattern with a light detector; creating an intensity pattern from the detected refracted reference light wave; assigning the angle of incidence stored as machine readable data to the intensity pattern; and/or calculating an angle between the first element plane and the second element plane from the assigned angle of incidence.
摘要翻译： 本发明的一些实施例涉及一种用于测量两个空间分离元件之间的角度的方法，其特征在于具有以下步骤：准备具有多个干涉图案的多路全息图，至少两个具有不同入射光的目标光波入全息图平面 ; 将多路复用全息图布置在第一元件的第一元件平面中; 用参考光波照明多路全息图; 将光检测器布置在第二元件上的第二元件平面中; 检测用光检测器在干涉图案上折射的参考光波; 从检测到的折射参考光波形成强度图案; 将存储为机器可读数据的入射角分配给强度图案; 和/或从分配的入射角计算第一元件平面和第二元件平面之间的角度。
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公开(公告)号：US20140076985A1
公开(公告)日：2014-03-20
申请号：US13823539
申请日：2011-09-20
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 (9), comprising at least one nozzle means (1) for an expelling of a spattering material onto a target surface (3) and a nozzle control mechanism (4) to control characteristics of the expelling of the nozzle means. Furthermore, it comprises a spattering material supply (5), a storage with desired spattering data (6), which is predefined and comprised in a digital image or CAD-model memorized on the storage, a spatial referencing unit (7), to reference the spattering device relative to the target surface and a computation means (8) 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 is evaluated and adjusted by changing the characteristics of expelling of the nozzle means in such a way that the target surface is spattered according to the desired spattering data.
摘要翻译： 本发明涉及一种手持式动态可移动的表面溅射装置（9），其包括用于将溅射材料排出到目标表面（3）和喷嘴控制机构（4）上的至少一个喷嘴装置（1），以控制 排出喷嘴装置。 此外，它包括飞溅材料供应（5），具有期望的喷溅数据（6）的存储器，其被预定义并包含在存储在存储器上的数字图像或CAD模型中，空间参考单元（7），以引用 相对于目标表面的溅射装置和根据由空间参考单元获得的信息并根据期望的飞溅数据自动控制由喷嘴控制机构排出的计算装置（8），通过改变喷射控制机构的特性 以使得目标表面根据期望的飞溅数据喷溅的方式排出喷嘴装置。
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公开(公告)号：US10359283B2
公开(公告)日：2019-07-23
申请号：US15369581
申请日：2016-12-05
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：US10281276B2
公开(公告)日：2019-05-07
申请号：US15719368
申请日：2017-09-28
发明人： Knut Siercks , Bernhard Metzler , Elmar Vincent Van Der Zwan , Thomas Fidler , Roman Parys , Alexander Velizhev , Jochen Scheja
IPC分类号： H04N5/232 , G01C15/00 , G01S19/13 , H04N5/225 , G06T7/579 , G06T7/70 , H04N5/247 , G06T7/00 , 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：US10234287B2
公开(公告)日：2019-03-19
申请号：US15308827
申请日：2014-05-05
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
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：US10234260B2
公开(公告)日：2019-03-19
申请号：US15143414
申请日：2016-04-29
发明人： Knut Siercks , Pascal Jordil
IPC分类号： B25J9/16 , G06K7/14 , G06K9/32 , G06T7/73 , G01B11/00 , G01B21/04 , G01B5/008 , G01B7/012 , G06T19/00 , H04N5/247
摘要： The invention relates to a method to control a drive mechanism of an automated machine for approaching a point of interest on an object, the object having a surface on which a reference information of the object is provided as a one- or two-dimensional pattern, the method comprising capturing at least one image of the object by means of at least one camera of the automated machine, identifying the reference information in the at least one image, determining a position and orientation of the reference information relative to the at least one camera, determining a position and orientation of the object based on the determined position and orientation of the reference information, and controlling the drive mechanism based on the determined position and orientation of the object.
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公开(公告)号：US10107618B2
公开(公告)日：2018-10-23
申请号：US14427280
申请日：2013-09-09
发明人： Pascal Jordil , Bo Pettersson , Knut Siercks
摘要： A coordinate measuring machine CMM and a method for gauging a target object by means of said CMM. The CMM comprises a Delta Robot as a support structure having an end effector movable within a motion zone, a tool-holder fixed to the end effector configured to accommodate various measurement probes and especially a camera, wherein the camera comprising an optics having a field of view encompassing maximum 20% of a motion zone of the end effector. Further it comprises a control unit controlling the motion of the end effector within the motion zone and the motion of the measurement probe over a target object in an “on the fly”-mode. Further it comprises an analyzing unit for processing electronic signals and/or data delivered by the measurement probe. The analyzing unit comprises especially storage means for storing said images and comprising a circuit unit for processing said images.
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公开(公告)号：US09995567B2
公开(公告)日：2018-06-12
申请号：US14363269
申请日：2012-12-06
发明人： Bo Pettersson , Knut Siercks , Eugen Voit , Jürg Hinderling , Benedikt Zebhauser , Klaus Schneider
IPC分类号： H04N13/239 , H04N13/275 , H04N13/296 , G01B11/00 , G01C15/00 , G01S17/87 , G01S17/89 , G01S17/02
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 laser-based distance measuring device (1), the method comprising determining an object point (20) at the object (2); measuring a distance (100) from the handheld laser-based distance measuring device (1) to the determined object point (20) by means of an EDM (10); capturing a 3D image (110) of the object (2), the 3D image (110) includes the determined object point (20); identifying the determined object point (20) in the captured 3D image (110); and linking the measured distance (100) with the identified object point (20) in the 3D image (110). The invention also relates to a handheld laser-based distance measuring device (1) and a computer program product for execution of said method.
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