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1.发明申请公开(公告)号：US20190219698A1
公开(公告)日：2019-07-18
申请号：US16249881
申请日：2019-01-16
CPC分类号： G01S17/42 , G01S7/4804
摘要： An apparatus for determining at least one spatial position and orientation of at least one object with at least three retroreflectors is provided. The apparatus has at least one LIDAR unit with at least three measurement channels. The LIDAR unit has at least one illumination device, which is configured to produce at least one frequency modulated input light beam. The LIDAR unit has at least one first beam splitter, wherein the first beam splitter is configured to divide the input light beam among the measurement channels in parallel and/or in sequence. The measurement channels are each configured to produce at least one measurement signal. The LIDAR unit is configured to produce at least one LIDAR signal for the measurement signals. The apparatus has at least one evaluation unit, which is configured to determine the spatial position and orientation of the object from the LIDAR signal.
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公开(公告)号：US11675080B2
公开(公告)日：2023-06-13
申请号：US16249881
申请日：2019-01-16
IPC分类号： G01S17/42 , G01S7/481 , G01S17/875 , G01S7/48 , G01S17/66
CPC分类号： G01S17/42 , G01S7/4804 , G01S7/4818 , G01S17/875 , G01S17/66
摘要： An apparatus for determining at least one spatial position and orientation of at least one object with at least three retroreflectors is provided. The apparatus has at least one LIDAR unit with at least three measurement channels. The LIDAR unit has at least one illumination device, which is configured to produce at least one frequency modulated input light beam. The LIDAR unit has at least one first beam splitter, wherein the first beam splitter is configured to divide the input light beam among the measurement channels in parallel and/or in sequence. The measurement channels are each configured to produce at least one measurement signal. The LIDAR unit is configured to produce at least one LIDAR signal for the measurement signals. The apparatus has at least one evaluation unit, which is configured to determine the spatial position and orientation of the object from the LIDAR signal.
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3.发明申请公开(公告)号：US20200233086A1
公开(公告)日：2020-07-23
申请号：US16749903
申请日：2020-01-22
摘要： An apparatus for determining a spatial position and orientation of a tracked measuring device includes a light detection and ranging (LIDAR) unit having at least one measurement channel configured to generate at least one measurement signal, and a control and evaluation unit including a reception unit configured to receive data from the tracked measuring device in wireless fashion, the LIDAR unit being configured to generate a LIDAR signal for the at least one measurement signal and to transfer said LIDAR signal to the control and evaluation unit, the apparatus having a synchronization channel integrated at least in part into the measurement channel of the LIDAR unit and configured to determine a synchronization information item, and the control and evaluation unit being configured to temporally synchronize the data of the tracked measuring device and the LIDAR signal by taking into account the at least one synchronization information item.
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公开(公告)号：US20200225026A1
公开(公告)日：2020-07-16
申请号：US16745318
申请日：2020-01-16
发明人： Wolfgang Hoegele , Christian Hoerr
摘要： A measuring apparatus for determining object data of at least one test object includes at least one distribution of retroreflectors. The retroreflectors are arranged on the measuring apparatus. The distribution has at least so many retroreflectors that at least three retroreflectors are observable at at least three spatially different observation locations in at least 90% of all possible spatial orientations of the measuring apparatus. A distance range of the observation locations is 0.1 m to 30 m. Each of the retroreflectors has a maximum acceptance angle. Each of the retroreflectors has a diameter of 1 mm to 50 mm. The retroreflectors are arranged such that, for each of the observation locations, a minimum spacing of measured retroreflector distances of the observable retroreflectors is 0.1 mm to 50 mm.
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公开(公告)号：US11948293B2
公开(公告)日：2024-04-02
申请号：US17163543
申请日：2021-01-31
发明人： Wolfgang Hoegele
CPC分类号： G06T7/001 , G01N21/8806 , G06T7/11 , G01N2021/8845 , G06T2207/10004
摘要： A position of an object is determined by optically capturing at least one capture structure arranged at the object or at a reference object captured from the object and thereby obtaining capture information, the at least one capture structure having a point-symmetrical profile of an optical property that varies along a surface of the capture structure, transforming a location-dependent mathematical function corresponding to the point-symmetrical profile of the optical property into a frequency domain, forming a second frequency-dependent mathematical function from a first frequency-dependent mathematical function, wherein the second mathematical function is formed from a relationship of in each case a real part and an imaginary part of complex function values of the first frequency-dependent mathematical function, and forming at least one function value of the second frequency-dependent mathematical function and determining the same as location information about a location of a point of symmetry of the location-dependent mathematical function.
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公开(公告)号：US11841433B2
公开(公告)日：2023-12-12
申请号：US16749903
申请日：2020-01-22
摘要： An apparatus for determining a spatial position and orientation of a tracked measuring device includes a light detection and ranging (LIDAR) unit having at least one measurement channel configured to generate at least one measurement signal, and a control and evaluation unit including a reception unit configured to receive data from the tracked measuring device in wireless fashion, the LIDAR unit being configured to generate a LIDAR signal for the at least one measurement signal and to transfer said LIDAR signal to the control and evaluation unit, the apparatus having a synchronization channel integrated at least in part into the measurement channel of the LIDAR unit and configured to determine a synchronization information item, and the control and evaluation unit being configured to temporally synchronize the data of the tracked measuring device and the LIDAR signal by taking into account the at least one synchronization information item.
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公开(公告)号：US11187522B2
公开(公告)日：2021-11-30
申请号：US16745318
申请日：2020-01-16
发明人： Wolfgang Hoegele , Christian Hoerr
摘要： A measuring apparatus for determining object data of at least one test object includes at least one distribution of retroreflectors. The retroreflectors are arranged on the measuring apparatus. The distribution has at least so many retroreflectors that at least three retroreflectors are observable at at least three spatially different observation locations in at least 90% of all possible spatial orientations of the measuring apparatus. A distance range of the observation locations is 0.1 m to 30 m. Each of the retroreflectors has a maximum acceptance angle. Each of the retroreflectors has a diameter of 1 mm to 50 mm. The retroreflectors are arranged such that, for each of the observation locations, a minimum spacing of measured retroreflector distances of the observable retroreflectors is 0.1 mm to 50 mm.
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公开(公告)号：US10852126B2
公开(公告)日：2020-12-01
申请号：US16517480
申请日：2019-07-19
发明人： Wolfgang Hoegele , Christian Hoerr
摘要： A method and an arrangement for optically capturing an object with a light pattern projection are provided. The method includes projecting a predetermined number of light patterns on the object, capturing at least one image of the object when each of a respective light pattern is projected to obtain position location dependent image intensity values for a respective projected light pattern, determining a linear combination of the predetermined number of light patterns, and generating a synthesized image intensity value for at least one image location in the image plane which corresponds to an area of the local region. The synthesized image intensity value at the image location is determined by a linear combination of the image intensity values which includes the linear combination of the projection intensity values for the local region, and the projection intensity values are replaced by the image intensity values at the image location.
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公开(公告)号：US20210241437A1
公开(公告)日：2021-08-05
申请号：US17163543
申请日：2021-01-31
发明人： Wolfgang Hoegele
摘要： A position of an object is determined by optically capturing at least one capture structure arranged at the object or at a reference object captured from the object and thereby obtaining capture information, the at least one capture structure having a point-symmetrical profile of an optical property that varies along a surface of the capture structure, transforming a location-dependent mathematical function corresponding to the point-symmetrical profile of the optical property into a frequency domain, forming a second frequency-dependent mathematical function from a first frequency-dependent mathematical function, wherein the second mathematical function is formed from a relationship of in each case a real part and an imaginary part of complex function values of the first frequency-dependent mathematical function, and forming at least one function value of the second frequency-dependent mathematical function and determining the same as location information about a location of a point of symmetry of the location-dependent mathematical function.
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公开(公告)号：US10605592B2
公开(公告)日：2020-03-31
申请号：US16377207
申请日：2019-04-06
摘要： The disclosure relates to an arrangement and a method for capturing coordinates of an object surface by triangulation. At least two partial light patterns are generated representing a decomposition of a corresponding basic light pattern. The partial light patterns are separately projected onto the object surface, an image of the object surface is captured during the projection of one of the partial light patterns, and components of the total intensity of the captured images are ascertained. A balance of direct and indirect intensity components is established per image and for each pixel under the assumption that the indirect intensity components in all images are equal. A reflection image is established based on the direct and/or indirect intensity components which approximates the image that would be capturable during a projection of the basic light pattern without indirect intensity components. Based on the reflection image, coordinates of the object surface are ascertained.
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