公开(公告)号：US08276467B2

公开(公告)日：2012-10-02

申请号：US12599329

申请日：2008-05-14

Applicant: Markus Fritzsche ,  Norbert Elkmann

Inventor： Markus Fritzsche ,  Norbert Elkmann

IPC: G01D7/00

CPC classification number: G01L1/205 ,  B25J13/084 ,  H01C10/10

Abstract: The invention relates to a tactile sensor with a sensor cell, wherein a sensor cell comprises an electrically-conducting workpiece made from flexible material and a connection to a first and a second electrode and the flexible material layers the electrical conductivity thereof under mechanical load. According to the invention, pressure distributions can be measured, by providing at least two sensor cells separated by an intervening zone, wherein two adjacent sensor cells are connected to a common first or second electrode and in the intervening zone between a first and a second adjacent sensor cell the electrically conducting workpiece of the first and the second sensor cell are at least partly separated from each other by medium with a greater specific resistance than the specific resistance of the electrically conducting workpieces.

Abstract translation: 本发明涉及一种具有传感器单元的触觉传感器，其中传感器单元包括由柔性材料制成的导电工件和与第一和第二电极的连接，并且所述柔性材料在机械载荷下对其电导率进行分层。 根据本发明，可以通过提供由中间区隔开的至少两个传感器单元来测量压力分布，其中两个相邻的传感器单元连接到共同的第一或第二电极，并且在第一和第二相邻 传感器单元，第一和第二传感器单元的导电工件至少部分地通过具有比导电工件的电阻率更大的电阻率的介质彼此分离。

公开(公告)号：US20110036181A1

公开(公告)日：2011-02-17

申请号：US12599329

申请日：2008-05-14

Applicant: Markus Fritzsche ,  Norbert Elkmann

Inventor： Markus Fritzsche ,  Norbert Elkmann

IPC: G01L1/20

CPC classification number: G01L1/205 ,  B25J13/084 ,  H01C10/10

Abstract: The invention relates to a tactile sensor with a sensor cell, wherein a sensor cell comprises an electrically-conducting workpiece made from flexible material and a connection to a first and a second electrode and the flexible material layers the electrical conductivity thereof under mechanical load. According to the invention, pressure distributions can be measured, by providing at least two sensor cells separated by an intervening zone, wherein two adjacent sensor cells are connected to a common first or second electrode and in the intervening zone between a first and a second adjacent sensor cell the electrically conducting workpiece of the first and the second sensor cell are at least partly separated from each other by medium with a greater specific resistance than the specific resistance of the electrically conducting workpieces.

Abstract translation: 本发明涉及一种具有传感器单元的触觉传感器，其中传感器单元包括由柔性材料制成的导电工件和与第一和第二电极的连接，并且所述柔性材料在机械载荷下对其电导率进行分层。 根据本发明，可以通过提供由中间区隔开的至少两个传感器单元来测量压力分布，其中两个相邻的传感器单元连接到共同的第一或第二电极，并且在第一和第二相邻 传感器单元，第一和第二传感器单元的导电工件至少部分地通过具有比导电工件的电阻率更大的电阻率的介质彼此分离。

公开(公告)号：US09596451B2

公开(公告)日：2017-03-14

申请号：US13640685

申请日：2011-04-15

Applicant: Christoph Walter ,  Christian Vogel ,  Norbert Elkmann

Inventor： Christoph Walter ,  Christian Vogel ,  Norbert Elkmann

IPC: H04N13/02 ,  F16P3/14 ,  G01S17/02 ,  G01V8/10

CPC classification number: H04N13/20 ,  F16P3/14 ,  F16P3/142 ,  F16P3/144 ,  G01S17/026 ,  G01V8/10

Abstract: The Invention relates to a device for monitoring at least one three-dimensional safety area, in particular a region in shared work areas of people and machines, comprising at least one capturing device that is pointed at the safety area and captures images of the safety area, and an analyzing device for analyzing the images that are captured by the capturing device in order to determine whether or not persons or objects have entered the safety area. At least one projector is arranged with respect to the safety area such that said projector projects lines or patterns as modulated light, said lines or patterns defining the safety area. The analyzing device analyzes the images for interruptions and/or changes of the projected lines.

Abstract translation: 本发明涉及一种用于监测至少一个三维安全区域，特别是人和机器的共享工作区域中的区域的装置，包括指向安全区域并捕获安全区域的图像的至少一个捕获装置 以及分析装置，用于分析由捕获装置捕获的图像，以便确定人或物体是否已经进入安全区域。 相对于安全区域布置至少一个投影仪，使得所述投影仪将线或图案投影为调制光，所述线或图案限定安全区域。 分析装置分析影像的中断和/或投影线的变化。

公开(公告)号：US20130201292A1

公开(公告)日：2013-08-08

申请号：US13640685

申请日：2011-04-15

Applicant: Christoph Walter ,  Christian Vogel ,  Norbert Elkmann

Inventor： Christoph Walter ,  Christian Vogel ,  Norbert Elkmann

IPC: H04N13/02

CPC classification number: H04N13/20 ,  F16P3/14 ,  F16P3/142 ,  F16P3/144 ,  G01S17/026 ,  G01V8/10

Abstract: The Invention relates to a device for monitoring at least one three-dimensional safety area, in particular a region in shared work areas of people and machines, comprising at least one capturing device that is pointed at the safety area and captures images of the safety area, and an analyzing device for analyzing the images that are captured by the capturing device in order to determine whether or not persons or objects have entered the safety area. At least onf projector Is arranged with respect to the safety area such that said projector projects lines or patterns as modulated light, said lines or patterns defining the safety area. The analyzing device analyzes the images for interruptions and/or changes of the projected lines.

Abstract translation: 本发明涉及一种用于监测至少一个三维安全区域，特别是人和机器的共享工作区域中的区域的装置，包括指向安全区域并捕获安全区域的图像的至少一个捕获装置 以及分析装置，用于分析由捕获装置捕获的图像，以便确定人或物体是否已经进入安全区域。 至少onf投影仪相对于安全区域布置，使得所述投影仪将线或图案投影为调制光，所述线或图案限定安全区域。 分析装置分析影像的中断和/或投影线的变化。

公开(公告)号：US5959424A

公开(公告)日：1999-09-28

申请号：US58637

申请日：1998-04-10

Applicant: Norbert Elkmann ,  Ulrich Schmucker ,  Holger Scharfe ,  Christian Schoop ,  Ingo Kubbe

Inventor： Norbert Elkmann ,  Ulrich Schmucker ,  Holger Scharfe ,  Christian Schoop ,  Ingo Kubbe

IPC: A47L1/02

CPC classification number: A47L1/02

Abstract: Proposed is a device for moving a robot or vehicle on surfaces, particula of a glass construction, which has a support frame provided with wheels, which forms a component part of the robot or vehicle, at least one wheel being in the form of a raisable drive wheel. The drive wheel is made of a material with a high coefficient of friction in the direction of travel, while the other wheels are made of a material with a low coefficient of friction. Furthermore, at least two rope drums, spaced apart, accommodating retaining ropes, and with a drum drive, are provided to hold the support frame. Attached on the support frame are a device for determining the lateral deviation and rotation of the support frame with respect to the linear forward movement and an device for correcting the rotation. A control device controls or regulates the correction device, in dependence on the magnitude of the lateral deviation and rotation. The invention further relates to a robot with the drive device.

Abstract translation: 提出了一种用于将机器人或车辆特别是玻璃结构移动的装置，其具有形成机器人或车辆的组成部分的车轮的支撑框架，至少一个轮子以可升高的形式 驱动轮 驱动轮由在行驶方向上具有高摩擦系数的材料制成，而其它车轮由具有低摩擦系数的材料制成。 此外，提供间隔开的容纳保持绳索和鼓驱动器的至少两个绳索鼓以保持支撑框架。 安装在支撑框架上的是用于确定支撑框架相对于线性向前移动的横向偏离和旋转的装置以及用于校正旋转的装置。 控制装置根据横向偏离和旋转的大小来控制或调节校正装置。 本发明还涉及具有驱动装置的机器人。