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    METHOD AND SYSTEM FOR THE HIGH-PRECISION POSITIONING OF AT LEAST ONE OBJECT IN A FINAL LOCATION IN SPACE
    1.
    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

    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。

    Method and system for the high-precision positioning of at least one object in a final location in space
    3.
    发明授权
    Method and system for the high-precision positioning of at least one object in a final location in space 有权
    用于在空间中的最终位置中至少一个对象的高精度定位的方法和系统

    公开(公告)号：US08346392B2

    公开(公告)日：2013-01-01

    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： G05B19/00

    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。

    METHOD AND SYSTEM FOR HIGHLY PRECISELY POSITIONING AT LEAST ONE OBJECT IN AN END POSITION IN SPACE
    4.
    发明申请
    METHOD AND SYSTEM FOR HIGHLY PRECISELY POSITIONING AT LEAST ONE OBJECT IN AN END POSITION IN SPACE 有权
    用于在空间中的最终位置中的至少一个对象的高精度定位的方法和系统

    公开(公告)号：US20120072021A1

    公开(公告)日：2012-03-22

    申请号：US13322123

    申请日：2010-05-26

    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： B25J13/08 ,  B25J19/04

    CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

    摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

    摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值以及与位置差有关的值。 将工业机器人移动到新的目标位置。

    Method and measurement system for contactless coordinate measurement of an object surface
    6.
    发明授权
    Method and measurement system for contactless coordinate measurement of an object surface 有权
    物体表面非接触坐标测量的方法和测量系统

    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。

    Coordinate measuring machine (CMM) and method of compensating errors in a CMM
    7.
    发明授权
    Coordinate measuring machine (CMM) and method of compensating errors in a CMM 有权
    坐标测量机（CMM）和补偿误差的方法

    公开(公告)号：US09435645B2

    公开(公告)日：2016-09-06

    申请号：US13148938

    申请日：2010-02-11

    申请人： Bo Pettersson ,  Knut Siercks

    发明人： Bo Pettersson ,  Knut Siercks

    IPC分类号： G01B5/008 ,  G01B7/008 ,  G01B21/04

    CPC分类号： G01B21/045 ,  G01B5/008 ,  G01B7/008

    摘要： The present invention relates to a coordinate measuring machine comprising a stationary base, a probe head, at least one linear drive mechanism for moving in a first direction, the linear drive mechanism having a linear guide and a movable member being supported for movement along the guide by bearings. The linear drive mechanism further comprises at least a first pre-calibrated integral sensor-package having at least two displacement sensors each for measuring a distance from the movable member to the guide in a direction being non-parallel with respect to the first direction, wherein the sensed distances indicate a translational displacement of the movable member from an ordinary bearing position in a direction perpendicular to the first direction and a rotational displacement of the movable member.

    摘要翻译： 坐标测量机技术领域本发明涉及一种坐标测量机，其包括固定基座，探针头，用于沿第一方向移动的至少一个线性驱动机构，所述线性驱动机构具有线性引导件和可移动部件， 通过轴承。 线性驱动机构还包括至少第一预校准的积分传感器组件，其具有至少两个位移传感器，每个位移传感器用于在相对于第一方向不平行的方向上测量从可动构件到引导件的距离，其中 所感测的距离表示可动构件在与第一方向垂直的方向上的普通支承位置和可动构件的旋转位移之间的平移位移。

    LASER SCANNER
    8.
    发明申请
    LASER SCANNER 有权
    激光扫描仪

    公开(公告)号：US20150301160A1

    公开(公告)日：2015-10-22

    申请号：US14235012

    申请日：2012-07-25

    申请人： Bo Pettersson ,  Bernhard Sprengen ,  Knut Siercks

    发明人： Bo Pettersson ,  Bernhard Sprengen ,  Knut Siercks

    IPC分类号： G01S7/481

    CPC分类号： G01S7/481 ,  G01S17/93

    摘要： A laser scanner measures a surface of spaces and/or objects and produces a point cloud representing the surface. The laser scanner includes a laser source for producing laser light, a detector for receiving the laser light, and a platform that pivots relative to a stationary base of the laser scanner. The laser light is directed to a particular point on the surface through an outlet point. Laser light scattered at the particular point is received through an inlet point on the platform. A distance to the particular point is determined using laser light scattered and received by the detector. A direction to the particular point is detected using, for example, one or more sensors for determining a pivot position of the platform relative to the base. A parallel kinematic drive pivots the platform relative to the base to scan the laser beam over points of the surface.

    摘要翻译： 激光扫描器测量空间和/或物体的表面并产生代表表面的点云。 激光扫描器包括用于产生激光的激光源，用于接收激光的检测器以及相对于激光扫描仪的固定基座枢转的平台。 激光通过出口点被引导到表面上的特定点。 在特定点散射的激光通过平台上的入口点接收。 使用由检测器散射和接收的激光来确定到特定点的距离。 使用例如用于确定平台相对于基座的枢转位置的一个或多个传感器来检测到特定点的方向。 平行的运动驱动器使平台相对于基座枢转，以在表面的点上扫描激光束。

    Graphical application system
    9.
    发明授权
    Graphical application system 有权
    图形应用系统

    公开(公告)号：US08875655B2

    公开(公告)日：2014-11-04

    申请号：US13425118

    申请日：2012-03-20

    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： B05C11/10 ,  G06F19/00 ,  B05B13/04 ,  G01B11/00 ,  B05B12/12 ,  G01S5/02 ,  H04N13/02 ,  B05B12/08 ,  G01S19/38

    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： A graphical application system, with a surface spattering device, with at least one nozzle for expelling a spattering material onto a target surface, a nozzle control mechanism controls expelling of the nozzle. A spatial referencing unit references the spattering device in space and a computation means automatically controls the nozzle according to information from the spatial referencing unit and according to predefined desired spattering data as a digital image or a CAD-model of a desired pattern to be spattered onto the target surface. A communication means for establishing a communication link from the spatial referencing unit to the computation means to supply the position and orientation to the computation means. The spatial referencing unit is located remote from the spattering device and comprises at least two optical 2D cameras arranged with a stereobasis, for determining the position and orientation of images taken by the cameras.

    摘要翻译： 具有表面喷溅装置的图形应用系统具有至少一个用于将飞溅材料排出到目标表面上的喷嘴，喷嘴控制机构控制喷嘴的排出。 空间参考单元参考空间中的飞溅装置，并且计算装置根据来自空间参考单元的信息并根据预定的期望的飞溅数据自动控制喷嘴作为数字图像或要被喷射到所需图案的CAD模型。 目标表面。 一种通信装置，用于建立从空间参考单元到计算装置的通信链路，以将位置和方向提供给计算装置。 空间参考单元位于远离喷溅装置的位置，并且包括至少两个配置有立体定位的光学2D照相机，用于确定由照相机拍摄的图像的位置和方向。

    Coordinate measuring machine (CMM) and method of compensating errors in a CMM
    10.
    发明授权
    Coordinate measuring machine (CMM) and method of compensating errors in a CMM 有权
    坐标测量机（CMM）和补偿误差的方法

    公开(公告)号：US08607466B2

    公开(公告)日：2013-12-17

    申请号：US13376897

    申请日：2010-07-02

    申请人： Bo Pettersson ,  Knut Siercks

    发明人： Bo Pettersson ,  Knut Siercks

    IPC分类号： G01B5/008 ,  G01B11/03

    CPC分类号： G01B21/045

    摘要： A coordinate measuring machine for determination of at least one spatial coordinate of a measurement point on an object to be measured. The coordinate measuring machine comprises a stationary base, a probe head for approaching the measurement point and a frame structure for linking the probe head to the base. At least a first mechanical reference element extending along a first part of the frame structure is fastened fixedly to the frame structure in a substantially unloaded way, and at least one displacement sensor is assigned to the first reference element, wherein the first reference element and the displacement sensor are designed and arranged in such a way, that a distance from the first reference element to the frame structure in the region of the first part is measurable, the distance indicating a displacement and/or deformation of the frame structure in the region of the first part.

    摘要翻译： 一种用于确定被测量物体上的测量点的至少一个空间坐标的坐标测量机。 坐标测量机包括固定基座，用于接近测量点的探头和用于将探针头连接到基座的框架结构。 沿着框架结构的第一部分延伸的至少第一机械参考元件以基本上无负载的方式固定地固定到框架结构，并且至少一个位移传感器被分配给第一参考元件，其中第一参考元件和 位移传感器被设计和布置成使得在第一部分的区域中从第一参考元件到框架结构的距离是可测量的，该距离指示框架结构在区域中的位移和/或变形 第一部分。