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1.发明授权公开(公告)号：US07990550B2
公开(公告)日：2011-08-02
申请号：US11908792
申请日：2006-03-03
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向的定位方法，由此由扫描器（2'）检测接收器（3'），所述扫描器（2'）确定在 至少相对于接收器（3'）的距离和方向。 由传感器发射的辐射由接收器（3'）检测，并且导出相对于接收轴的辐射入射方向和辐射入射方向，而入射辐射相对于轴线的偏移 的接收（EA）。 位置和方位取决于至少距离，相对于接收器（3'）的方向，偏移和入射方向，因为位置信息和单元可选地通过光学连接（OV）控制， 。
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2.发明授权Distance measuring method and distance measuring element for detecting the spatial dimension of a target 有权距离测量方法和距离测量元件，用于检测目标的空间维度公开(公告)号：US07800739B2
公开(公告)日：2010-09-21
申请号：US12301025
申请日：2007-05-11
申请人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
发明人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
IPC分类号： G01C3/08
CPC分类号： G01S7/487 , G01S7/4865 , G01S7/497 , G01S17/107 , G01S17/89
摘要： A distance measuring method for detecting the spatial dimension of at least one target by at least one emission of a multiplicity of light pulses, in particular laser light, towards the target, detecting the light pulse scattered back by the target by means of a multiplicity of distance measuring pixels and eliminating the distance to the target for each pixel, wherein each light pulse can be detected within a measuring interval Ti from at least two partial intervals tij and the detection of at least one repetition constitutes a detection step performed in at least two stages wherein the measuring interval T˜ is shortened from stage to stage.
摘要翻译： 一种距离测量方法，用于通过对目标的多个光脉冲，特别是激光的至少一个发射来检测至少一个目标的空间维度，通过多个检测目标检测目标散射的光脉冲 距离测量像素并且消除与每个像素到目标的距离，其中每个光脉冲可以在至少两个部分间隔tij的测量间隔Ti内检测，并且至少一个重复的检测构成在至少两个执行中的检测步骤 测量间隔T〜从阶段缩短到阶段。
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3.发明申请DISTANCE MEASURING METHOD AND DISTANCE MEASURING ELEMENT FOR DETECTING THE SPATIAL DIMENSION OF A TARGET 有权用于检测目标空间尺寸的距离测量方法和距离测量单元公开(公告)号：US20090185159A1
公开(公告)日：2009-07-23
申请号：US12301025
申请日：2007-05-11
申请人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
发明人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
IPC分类号： G01C3/08
CPC分类号： G01S7/487 , G01S7/4865 , G01S7/497 , G01S17/107 , G01S17/89
摘要： A distance measuring method for detecting the spatial dimension of at least one target by at least one emission of a multiplicity of light pulses, in particular laser light, towards the target, detecting the light pulse scattered back by the target by means of a multiplicity of distance measuring pixels and eliminating the distance to the target for each pixel, wherein each light pulse can be detected within a measuring interval Ti from at least two partial intervals ti,j and the detection of at least one repetition constitutes a detection step performed in at least two stages wherein the measuring interval Ti is shortened from stage to stage.
摘要翻译： 一种距离测量方法，用于通过对目标的多个光脉冲，特别是激光的至少一个发射来检测至少一个目标的空间维度，通过多个检测目标检测目标散射的光脉冲 距离测量像素并且消除每个像素到目标的距离，其中可以在至少两个部分间隔ti，j处的测量间隔Ti内检测每个光脉冲，并且至少一个重复的检测构成检测步骤 至少两个阶段，其中测量间隔Ti从一个阶段缩短到一个阶段。
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公开(公告)号：US20080291434A1
公开(公告)日：2008-11-27
申请号：US12091680
申请日：2006-10-28
IPC分类号： G01B11/26
CPC分类号： G01D5/3473 , G01D5/34715 , H01L27/307
摘要： An optoelectric angle-measuring device according to the invention has a code carrier having a position code (C1) 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 (C1) and generating a position-dependent scanning signal. The scanning device which is in the form of a scanning film (F1), 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 (C1), in particular even the entire position code (C1), can be detected.
摘要翻译： 根据本发明的光电角度测量装置具有代码载体，其具有能够被光学检测的位置代码（C1）以及以感光行或区域的形式的扫描装置，用于检测位置代码（C1 ）并产生位置相关扫描信号。 具有扫描胶片（F1）形式的扫描装置特别地围绕着码载体或编码载体，沿着圆周基本上完全围绕扫描装置。 由于可以检测到大部分位置码（C1），特别是整个位置码（C1）的事实，这提供了极其精确的角度测量装置。
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公开(公告)号：US07669354B2
公开(公告)日：2010-03-02
申请号：US11553911
申请日：2006-10-27
IPC分类号： E02F5/00
摘要： For determining the load of an excavator bucket, or optionally of another holding region, a measurement step and an evaluation step are carried out. In the measurement step, the position of a load surface is determined by a noncontact distance-measuring device and, in the evaluation step, a load volume is determined from the position of the load surface and the position and shape of the excavator bucket or of the holding region. For determining the position of the load surface, at least one two-dimensional matrix with distance values is created by means of a distance-measuring camera. For determining the position of the excavator bucket, the distances to at least three points of the excavator bucket, in particular to points on the upper bucket edge, optionally to marked points are determined using the distance-measuring apparatus for determining the surface.
摘要翻译： 为了确定挖掘机铲斗的负荷或可选的另一个保持区域，执行测量步骤和评估步骤。 在测量步骤中，负载表面的位置由非接触测距装置确定，在评估步骤中，根据负载表面的位置和挖掘机铲斗的位置和形状确定负载量，或者 持有地区。 为了确定载荷表面的位置，通过距离测量相机产生具有距离值的至少一个二维矩阵。 为了确定挖掘机斗的位置，使用用于确定表面的距离测量装置确定挖掘机铲斗至少三点的距离，特别是上铲斗边缘上的点的距离，可选地到标记点。
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6.发明申请公开(公告)号：US20100039656A1
公开(公告)日：2010-02-18
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： G01D5/347
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。
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公开(公告)号：US08908028B2
公开(公告)日：2014-12-09
申请号：US13321157
申请日：2010-06-24
申请人： Bernhard Metzler , Bernd Walser , Beat Aebischer
发明人： Bernhard Metzler , Bernd Walser , Beat Aebischer
CPC分类号： B25J9/1697 , G05B2219/37008 , G05B2219/37009 , G05B2219/37015 , G05B2219/37017 , G05B2219/37567
摘要： According to the invention, the calibration measuring cycle is divided into several, particularly a plurality of partial cycles, with which one or more of the calibration measurements are associated. While maintaining the cycle, the partial cycles are now carried out in one of the positioning pauses such that the calibration measuring cycle is distributed over several, in particular a plurality of, positioning pauses and is integrated into the flow of the industrial process without interfering with the same.
摘要翻译： 根据本发明，校准测量循环被分成几个，特别是多个部分循环，其中一个或多个校准测量与之相关联。 在保持循环的同时，部分循环现在在定位暂停之一中进行，使得校准测量循环分布在几个，特别是多个定位暂停中，并被集成到工业过程的流程中而不会干扰 一样。
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公开(公告)号：US20120098958A1
公开(公告)日：2012-04-26
申请号：US13321157
申请日：2010-06-24
申请人： Bernhard Metzler , Bernd Walser , Beat Aebischer
发明人： Bernhard Metzler , Bernd Walser , Beat Aebischer
IPC分类号： H04N7/18
CPC分类号： B25J9/1697 , G05B2219/37008 , G05B2219/37009 , G05B2219/37015 , G05B2219/37017 , G05B2219/37567
摘要： According to the invention, the calibration measuring cycle is divided into several, particularly a plurality of partial cycles, with which one or more of the calibration measurements are associated. While maintaining the cycle, the partial cycles are now carried out in one of the positioning pauses such that the calibration measuring cycle is distributed over several, in particular a plurality of, positioning pauses and is integrated into the flow of the industrial process without interfering with the same.
摘要翻译： 根据本发明，校准测量循环被分成几个，特别是多个部分循环，其中一个或多个校准测量与之相关联。 在保持循环的同时，部分循环现在在定位暂停之一中进行，使得校准测量循环分布在几个，特别是多个定位暂停中，并被集成到工业过程的流程中而不会干扰 一样。
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9.发明申请METHOD AND SYSTEM FOR THE HIGH-PRECISION POSITIONING OF AT LEAST ONE OBJECT IN A FINAL LOCATION IN SPACE 有权用于空间中最终位置的至少一个对象的高精度定位的方法和系统公开(公告)号：US20100274390A1
公开(公告)日：2010-10-28
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
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。
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公开(公告)号：US20080005938A1
公开(公告)日：2008-01-10
申请号：US11553911
申请日：2006-10-27
摘要： For determining the load of an excavator bucket, or optionally of another holding region, a measurement step and an evaluation step are carried out. In the measurement step, the position of a load surface is determined by means of a noncontact distance-measuring device and, in the evaluation step, a load volume is determined from the position of the load surface and the position and shape of the excavator bucket or of the holding region. For determining the position of the load surface, at least one two-dimensional matrix with distance values is created by means of a distance-measuring camera. For determining the position of the excavator bucket, the distances to at least three points of the excavator bucket, in particular to points on the upper bucket edge, optionally to marked points are determined using the distance-measuring apparatus for determining the surface.
摘要翻译： 为了确定挖掘机铲斗的负荷或可选的另一个保持区域，执行测量步骤和评估步骤。 在测量步骤中，通过非接触式距离测量装置来确定负载表面的位置，并且在评估步骤中，根据负载表面的位置以及挖掘机铲斗的位置和形状来确定负载量 或保持区域。 为了确定载荷表面的位置，通过距离测量相机产生具有距离值的至少一个二维矩阵。 为了确定挖掘机斗的位置，使用用于确定表面的距离测量装置确定挖掘机铲斗至少三点的距离，特别是上铲斗边缘上的点的距离，可选地到标记点。
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