公开(公告)号：US11454499B2

公开(公告)日：2022-09-27

申请号：US13636628

申请日：2011-03-21

申请人： Heinz Lippuner ,  Urs Vokinger ,  Knut Siercks

发明人： Heinz Lippuner ,  Urs Vokinger ,  Knut Siercks

IPC分类号： G01C1/00 ,  G01B21/04 ,  G01D5/347

摘要： Measurement method where a code projection which is dependent on a three-dimensional position of a code carrier relative to a sensor arrangement is generated on a sensor arrangement, and at least part of the code projection is captured. An angular position of the code carrier with reference to the defined axis of rotation is ascertained and a current measurement position of the measurement component relative to a base is determined, wherein, a position value for at least one further degree of freedom of the code carrier relative to the sensor arrangement is ascertained on the basis of the code projection and is taken into account to determine the current measurement position, and a relative position of the connecting element with respect to the holder and/or the deformation thereof is determined from the position value in the form of a change in shape or size.

公开(公告)号：US09628779B2

公开(公告)日：2017-04-18

申请号：US14004880

申请日：2012-05-16

申请人： Knut Siercks

发明人： Knut Siercks

IPC分类号： G06T7/521 ,  H04N13/02 ,  G01B11/25

CPC分类号： H04N13/254 ,  G01B11/2545 ,  G06T7/521 ,  G06T2207/10152 ,  G06T2207/30164

摘要： An optical measurement method for determining 3D coordinates of a plurality of measurement points on a measurement object surface. The measurement object surface is illuminated with a pattern sequence of different patterns by a projector, an image sequence of the measurement object surface illuminated with the pattern sequence is recorded with a camera system, and the 3D coordinates of the measurement points are determined by evaluating the image sequence, in particular wherein a succession of brightness values for identical measurement points on the measurement object surface is ascertained in respective images of the recorded image sequence. Translational and/or rotational accelerations of the projector, of the camera system and/or of the measurement object are measured here and, in dependence on the measured accelerations, the illumination of the measurement object surface and/or the recording of the image sequence is/are reactively adapted, in particular temporally substantially directly and live during the measurement process.

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

IPC分类号： B25J9/16 ,  B25J19/04

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：US09844792B2

公开(公告)日：2017-12-19

申请号：US13823539

申请日：2011-09-20

申请人： Bo Pettersson ,  Klaus Schneider ,  Benedikt Zebhauser ,  Knut Siercks

发明人： Bo Pettersson ,  Klaus Schneider ,  Benedikt Zebhauser ,  Knut Siercks

IPC分类号： B05B12/12 ,  G01B11/00 ,  B05B13/04 ,  B05B12/00 ,  B05B12/08 ,  G01S5/02 ,  G01S19/38 ,  H04N13/02 ,  B41J3/407

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, comprising at least one nozzle means for an expelling of a spattering material onto a target surface and a nozzle control mechanism to control characteristics of the expelling of the nozzle means. Furthermore, it comprises a spattering material supply, a storage with desired spattering data, which is predefined and comprised in a digital image or CAD-model memorized on the storage, a spatial referencing unit, to reference the spattering device relative to the target surface and a computation means 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.

公开(公告)号：US09618328B2

公开(公告)日：2017-04-11

申请号：US14128454

申请日：2012-07-25

申请人： Jürg Hinderling ,  Knut Siercks

发明人： Jürg Hinderling ,  Knut Siercks

IPC分类号： G01B11/00 ,  G02B5/28 ,  G01C15/00

CPC分类号： G01B11/002 ,  G01C15/002 ,  G02B5/284

摘要： An optical measuring system determines coordinates of points for distance measurement. The measuring system includes a radiation source for emitting electromagnetic radiation and a receiving unit having a filter unit for extracting electromagnetic radiation in a defined wavelength range and having, a detector, such that the radiation extracted by the filter unit is detectable by the detector. The filter unit includes at least two mirror elements which are at least partly reflective and constructed in a multilayered fashion. The mirror elements are substantially parallel to one another. Two adjacent mirror elements in each case enclose a cavity and are arranged at a specific distance from one another. An optical thickness is defined by a refractive index of the cavity and by the distance between the mirror elements. Optical thickness varying means operate to varying the optical thickness, such that an extractable wavelength range of the filter unit is varied.

公开(公告)号：US09127929B2

公开(公告)日：2015-09-08

申请号：US12675191

申请日：2008-08-22

申请人： Knut Siercks ,  Thomas Jensen ,  Klaus Schneider

发明人： Knut Siercks ,  Thomas Jensen ,  Klaus Schneider

IPC分类号： G01B11/02 ,  G01B11/00

CPC分类号： G01B11/005

摘要： In a method for gauging surfaces (7″), in which a frequency-modulated laser beam is generated, the laser beam is emitted onto the surface as measuring radiation (MS), the measuring radiation (MS) backscattered from the surface (7″) is received and the distance between a reference point and the surface (7″) is measured interferometrically, wherein the measuring radiation (MS) is emitted and received while the surface to be gauged is being scanned, and a measuring arm and a reference interferometer arm with a partially common beam path are used, deviations from the essentially perpendicular impingement of the measuring radiation (MS) on the surface (7″) are taken into account algorithmically during distance measurement and/or are avoided or reduced during scanning by controlling the emission of the measuring radiation (MS).

摘要翻译： 在用于测量其中产生调频激光束的表面（7“）的方法中，激光束作为测量辐射（MS）发射到表面上，从表面（7”）反向散射的测量辐射（MS） ），并且干涉测量参考点和表面（7“）之间的距离，其中在要被测量的表面被扫描时发射和接收测量辐射（MS），并且测量臂和参考干涉仪 使用具有部分共同光束路径的臂，在距离测量期间在算法上考虑表面（7“）上的测量辐射（MS）的基本上垂直的冲击的偏差和/或在扫描期间通过控制 发射测量辐射（MS）。

公开(公告)号：US20150185327A1

公开(公告)日：2015-07-02

申请号：US14610611

申请日：2015-01-30

申请人： Burkhard BOECKEM ,  Knut SIERCKS ,  Bernhard METZLER

发明人： Burkhard BOECKEM ,  Knut SIERCKS ,  Bernhard METZLER

IPC分类号： G01S17/89 ,  G01S17/66 ,  G01S17/42 ,  G01C1/02

CPC分类号： G01S17/89 ,  G01C1/02 ,  G01C15/04 ,  G01S7/4817 ,  G01S7/497 ,  G01S17/023 ,  G01S17/42 ,  G01S17/66

摘要： A measurement system includes a measuring device and a scanning module having fastening means for fastening the scanning module onto a holder and a beam deflection element that is rotatable by a motor about an axis of rotation to deflect a scanning laser beam. The axis of rotation is arranged at a defined angle relative to the pivoting axis. A second angle measurement functionality determines an angle of rotation from an angle position of the beam deflection element. The measuring device also has a holder designed such that the scanning module can be fastened by means of the fastening means in a module-like manner in a defined position on the measuring device.

摘要翻译： 测量系统包括测量装置和扫描模块，该扫描模块具有用于将扫描模块固定到保持器上的紧固装置和可由马达围绕旋转轴旋转以偏转扫描激光束的光束偏转元件。 旋转轴线相对于枢转轴线以确定的角度布置。 第二角度测量功能确定了来自光束偏转元件的角度位置的旋转角度。 测量装置还具有保持器，其设计成使得扫描模块可以通过紧固装置以类似模块的方式固定在测量装置上的限定位置。

公开(公告)号：US20140125990A1

公开(公告)日：2014-05-08

申请号：US14128454

申请日：2012-07-25

申请人： Jürg Hinderling ,  Knut Siercks

发明人： Jürg Hinderling ,  Knut Siercks

IPC分类号： G01B11/00

CPC分类号： G01B11/002 ,  G01C15/002 ,  G02B5/284

摘要： An optical measuring system determines coordinates of points for distance measurement. The measuring system includes a radiation source for emitting electromagnetic radiation and a receiving unit having a filter unit for extracting electromagnetic radiation in a defined wavelength range and having, a detector, such that the radiation extracted by the filter unit is detectable by the detector. The filter unit includes at least two mirror elements which are at least partly reflective and constructed in a multilayered fashion. The mirror elements are substantially parallel to one another. Two adjacent mirror elements in each case enclose a cavity and are arranged at a specific distance from one another. An optical thickness is defined by a refractive index of the cavity and by the distance between the mirror elements. Optical thickness varying means operate to varying the optical thickness, such that an extractable wavelength range of the filter unit is varied.

摘要翻译： 光学测量系统确定距离测量点的坐标。 测量系统包括用于发射电磁辐射的辐射源和具有用于提取在确定的波长范围内的电磁辐射的滤波器单元的接收单元，并具有检测器，使得由滤波器单元提取的辐射可由检测器检测。 过滤器单元包括至少部分反射并以多层方式构造的至少两个镜元件。 反射镜元件基本上彼此平行。 两个相邻的镜子元件在每种情况下都包围一个空腔并被布置在彼此相距的特定距离处。 光学厚度由腔的折射率和反射镜元件之间的距离限定。 光学厚度变化装置用于改变光学厚度，使得过滤器单元的可提取波长范围变化。

公开(公告)号：US08244030B2

公开(公告)日：2012-08-14

申请号：US13226368

申请日：2011-09-06

申请人： Bo Pettersson ,  Knut Siercks ,  Benedikt Zebhauser

发明人： Bo Pettersson ,  Knut Siercks ,  Benedikt Zebhauser

IPC分类号： G06T15/00 ,  G06K9/20 ,  G06K9/36

CPC分类号： G01B11/005 ,  G01C11/00 ,  G01C15/00 ,  G01S17/66 ,  G01S17/89

摘要： The invention relates to a method and a surveying system for noncontact coordinate measurement on the object surface of an object to be surveyed in an object coordinate system. With a 3D image recording unit, a first three-dimensional image of a first area section of the object surface is electronically recorded in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated. The first position and first orientation of the 3D image recording unit in the object coordinate system are determined by a measuring apparatus coupled to the object coordinate system. First 3D object coordinates in the object coordinate system are coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit.

摘要翻译： 本发明涉及一种用于在物体坐标系中对待测物体的物体表面进行非接触坐标测量的方法和测量系统。 利用3D图像记录单元，物体表面的第一区域部分的第一三维图像被电子地记录在第一位置和第一取向中，第一三维图像由多个第一像素组成，其中， 在每种情况下，协调一块深度信息。 物体坐标系中的3D图像记录单元的第一位置和第一方向由耦合到对象坐标系的测量装置确定。 物理坐标系中的第一3D对象坐标与第一3D图像坐标以及3D图像记录单元的第一位置和第一方向的知识与第一像素协调。

公开(公告)号：US07933055B2

公开(公告)日：2011-04-26

申请号：US12377278

申请日：2007-08-16

申请人： Thomas Jensen ,  Knut Siercks

发明人： Thomas Jensen ,  Knut Siercks

IPC分类号： G02B26/08

CPC分类号： G01S17/42 ,  G01S7/4817 ,  G01S7/4818 ,  G01S17/89 ,  G02B6/32 ,  G02B6/4204

摘要： A laser scanner for detecting spatial surroundings comprises a stator (21), a rotor (1), mounted on the stator (21) to be rotatable about a first rotational axis, and a rotary body (2), mounted on the rotor (1) to be rotatable about a second rotational axis. A laser source (6) and a detector (7) are arranged in the rotor (1). One optical link (9) each is configured on the second rotational axis on every side of the rotary body (2) between the rotor (1) and the rotary body (2) so that emission light can be introduced by the laser source into the rotary body (2) via the first optical link (8) and reception light can be discharge from the rotary body (2) via the second optical link (9). A first rotary drive (25) drives the rotor (21) and a second rotary drive (26) drives the rotary body (2). Two goniometers (4) and evaluation electronics (5) which are connected to the laser source (6) and the detector (7) allow association of a detected distance with a corresponding direction. The rotary body (2) can have a very compact design, is completely passive and therefore does not require any power supply or transmission of signals.

摘要翻译： 一种用于检测空间环境的激光扫描仪，包括一个安装在定子上的定子（21），一个转子（1），可绕第一旋转轴线转动;以及一个旋转体（2），安装在转子 ）可绕第二旋转轴线旋转。 激光源（6）和检测器（7）布置在转子（1）中。 在旋转体（2）的旋转体（2）的旋转体（2）的两侧的第二旋转轴上配置有一个光学连杆（9），使得能够通过激光源将发光发射到 经由第一光学连杆（8）的旋转体（2）和接收光可以经由第二光学连接件（9）从旋转体（2）排出。 第一旋转驱动器（25）驱动转子（21），第二旋转驱动器（26）驱动旋转体（2）。 连接到激光源（6）和检测器（7）的两个测角器（4）和评估电路（5）允许检测到的距离与相应的方向相关联。 旋转体（2）可以具有非常紧凑的设计，是完全无源的，因此不需要任何电源或信号传输。