公开(公告)号：US11675080B2

公开(公告)日：2023-06-13

申请号：US16249881

申请日：2019-01-16

Applicant: Carl Zeiss Industrielle Messtechnik GmbH

Inventor： Wolfgang Hoegele ,  Volker Rasenberger ,  Florian Rettich ,  Thomas Mayer

IPC: G01S17/42 ,  G01S7/481 ,  G01S17/875 ,  G01S7/48 ,  G01S17/66

CPC classification number: G01S17/42 ,  G01S7/4804 ,  G01S7/4818 ,  G01S17/875 ,  G01S17/66

Abstract: 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.

公开(公告)号：US09897442B2

公开(公告)日：2018-02-20

申请号：US14421802

申请日：2013-08-13

Applicant: HEXAGON TECHNOLOGY CENTER GMBH

Inventor： Bo Pettersson ,  Pascal Jordil

IPC: G01B5/00 ,  G01B21/04 ,  G01B5/008 ,  G01B11/00 ,  G01S17/42 ,  G01S17/87

CPC classification number: G01B21/04 ,  G01B5/008 ,  G01B11/002 ,  G01B11/005 ,  G01S17/42 ,  G01S17/875

Abstract: The invention pertains to a method for determining at least one spatial coordinate of a measurement point of a local structure of an object, providing a mobile coordinate measuring machine, the method comprising at least placing the mobile coordinate measuring machine on a surface of the object to be measured, approaching the measurement point with a sensing head, and determining at least one spatial coordinate of the at least one measurement point, characterized by establishing a defined spatial relation between the coordinate measuring machine and the local structure wherein the defined spatial relation is established by means of a mechanical fixation of the coordinate measuring machine to the object, and/or a continuous determination of position and orientation of the coordinate measuring machine relative to the object. The invention furthermore pertains to a mobile coordinate measuring machine and a computer program product for execution of said method.

公开(公告)号：US20170356720A1

公开(公告)日：2017-12-14

申请号：US15180266

申请日：2016-06-13

Applicant: The Boeing Company

Inventor： Richard B. Guthrie

IPC: F41G3/06 ,  G01C21/20 ,  G01S17/42 ,  G01S17/87

CPC classification number: G01C21/20 ,  G01S17/06 ,  G01S17/42 ,  G01S17/875

Abstract: Systems and methods that enable a targeting system operator, with no access to GPS signals, to self-locate using one or two landmarks and then geolocate an object-of-interest (OOI) using its own position and attitude and the range to the OOI. In the absence of GPS signals, the coordinates of the position of the targeting system can be calculated using a self-location algorithm either: (1) based on a measured direction and a measured range to one landmark and known coordinates of the position of the landmark; or (2) via triangulation based on two landmarks with respective known coordinates and respective measured headings. The coordinates of the position of the OOI can then be calculated using a geolocation algorithm based on the calculated coordinates of the position of the targeting system, and a measured direction and a measured range to the OOI. The calculated coordinates of the position of the OOI can then be sent to a weapons programmer by digital or voice message.

公开(公告)号：US09109878B2

公开(公告)日：2015-08-18

申请号：US14298821

申请日：2014-06-06

Applicant: THALES

Inventor： Bruno Barbier ,  Laurent Potin ,  Siegfried Rouzes

IPC: G01B11/00 ,  G01S17/87 ,  G01S5/16 ,  F41G3/22

CPC classification number: G01B11/002 ,  F41G3/225 ,  G01S5/16 ,  G01S17/875

Abstract: The general field of the invention is that of systems for detecting the posture of a mobile object. The systems according to the invention comprise a fixed electro-optical device comprising an emission source and a photosensitive sensor. The optical corner cube is arranged on the mobile object. The entry face of the corner cube has a predetermined geometry, the light coming from the source and reflected back by the corner cube forming a luminous contour on the matrix sensor. The fixed electro-optical device comprises an optical element with a known shape and location, which is placed in the vicinity of the said source and is arranged so as to form a dark zone in the central part of the luminous contour. The detection system comprises analysis means determining the position and the orientation of the mobile object from knowledge of the vanishing points of the luminous contour and the position and shape of the dark zone.

Abstract translation: 本发明的一般领域是用于检测移动物体的姿势的系统。 根据本发明的系统包括固定电光装置，其包括发射源和感光传感器。 光学角立方体布置在移动物体上。 拐角立方体的入射面具有预定的几何形状，来自源的光并由角立方体反射回来，在矩阵传感器上形成发光轮廓。 固定电光装置包括具有已知形状和位置的光学元件，其被放置在所述源的附近并且被布置成在发光轮廓的中心部分中形成暗区。 所述检测系统包括分析装置，根据所述发光轮廓的消失点以及所述暗区的位置和形状的知识来确定所述移动体的位置和姿态。

公开(公告)号：US09007569B2

公开(公告)日：2015-04-14

申请号：US13566077

申请日：2012-08-03

Applicant: Farzin Amzajerdian ,  Diego F. Pierrottet

Inventor： Farzin Amzajerdian ,  Diego F. Pierrottet

IPC: G01P3/68 ,  G01S17/58 ,  G01S17/32 ,  G01S17/87

CPC classification number: G01P3/68 ,  G01S17/325 ,  G01S17/58 ,  G01S17/875

Abstract: A Doppler lidar sensor system includes a laser generator that produces a highly pure single frequency laser beam, and a frequency modulator that modulates the laser beam with a highly linear frequency waveform. A first portion of the frequency modulated laser beam is amplified, and parts thereof are transmitted through at least three separate transmit/receive lenses. A second portion of the laser beam is used as a local oscillator beam for optical heterodyne detection. Radiation from the parts of the laser beam transmitted via the transmit/receive lenses is received by the respective transmit/receive lenses that transmitted the respective part of the laser beam. The received reflected radiation is compared with the local oscillator beam to calculate the frequency difference therebetween to determine various navigational data.

Abstract translation: 多普勒激光雷达传感器系统包括产生高纯度单频激光束的激光发生器，以及以高线性频率波形调制激光束的频率调制器。 频率调制激光束的第一部分被放大，并且其部分通过至少三个分离的发射/接收透镜传输。 激光束的第二部分被用作用于光学外差检测的本地振荡器光束。 通过发射/接收透镜传输的激光束的部分的辐射由透射激光束的相应部分的相应发射/接收透镜接收。 将接收到的反射辐射与本地振荡器波束进行比较，以计算它们之间的频率差，以确定各种导航数据。

公开(公告)号：US08817239B2

公开(公告)日：2014-08-26

申请号：US13482130

申请日：2012-05-29

Applicant: Kevin R. Nau

Inventor： Kevin R. Nau

IPC: G01S17/87 ,  G01S7/499

CPC classification number: G01S17/875 ,  G01S7/499

Abstract: Systems, methods, and other embodiments associated with distance based position measurement are described. In one embodiment, an apparatus is configured to be positioned proximate a feature of interest. The apparatus includes a laser distance meter (LDM) configured to emit a laser beam and to determine first and second distances between the LDM and first and second targets. The first and second targets have known positions in three dimensions with respect to a reference plane from which the LDM is located. The apparatus also includes a trilateration unit configured to compute a two dimensional position of the LDM relative to the targets based, at least in part, on the first and second distances.

Abstract translation: 描述与基于距离的位置测量相关联的系统，方法和其他实施例。 在一个实施例中，设备被配置为定位在感兴趣的特征附近。 该装置包括被配置为发射激光束并确定LDM与第一和第二目标之间的第一和第二距离的激光测距仪（LDM）。 第一和第二目标相对于LDM所在的参考平面具有三维的已知位置。 该装置还包括三边测量单元，其被配置为至少部分地基于第一和第二距离来计算相对于目标的LDM的二维位置。

公开(公告)号：US20140214258A1

公开(公告)日：2014-07-31

申请号：US14254953

申请日：2014-04-17

Applicant: Crown Equipment Limited

Inventor： Lisa Wong ,  Andrew Evan Graham ,  Christopher W. Goode ,  Lucas B. Waltz

IPC: B66F9/06

CPC classification number: B66F9/063 ,  G01C21/206 ,  G01S5/08 ,  G01S5/16 ,  G01S17/023 ,  G01S17/08 ,  G01S17/875 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0216 ,  G06F17/00 ,  G07C5/08

Abstract: A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose.

公开(公告)号：US08736820B2

公开(公告)日：2014-05-27

申请号：US13254099

申请日：2010-03-03

Applicant: Tok Son Choe ,  Jeong Sook Chae ,  Yong Woon Park ,  Jun Kim

Inventor： Tok Son Choe ,  Jeong Sook Chae ,  Yong Woon Park ,  Jun Kim

IPC: G01C3/08

CPC classification number: G05D1/024 ,  G01S17/87 ,  G01S17/875 ,  G01S17/936 ,  G05D2201/0209

Abstract: Disclosed is apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle, comprising an upper 2D laser radar 1, a lower 2D laser radar 2, and a processing unit 10, the processing unit 10 comprising a distance data receiving part 11, an inclination calculating part 12, a ground and obstacle determining part 13, and a transmitting part. Also disclosed is a method for distinguishing between ground and an obstacle for autonomous mobile vehicle by using the apparatus for distinguishing between ground and an obstacle for autonomous mobile vehicle of claim 1, in which the detected object is determined as an obstacle when the actual inclination (g) of the detected object is larger than the reference inclination, and as ground when the actual inclination (g) of the detected object is smaller than the reference inclination.

Abstract translation: 公开了用于区分自主移动车辆的地面和障碍物的装置，包括上2D激光雷达1，下2D激光雷达2和处理单元10，处理单元10包括距离数据接收部分11，倾斜度 计算部分12，地面和障碍物确定部分13以及发射部分。 还公开了一种通过使用权利要求1所述的用于区分自动移动车辆的地面和障碍物的装置来区分自主移动车辆的地面和障碍物的方法，其中，当实际倾斜度 检测对象的实际倾斜度（g）小于参考倾斜度，并且当检测到的物体的实际倾斜度（g）小于参考倾斜度时，作为接地。

公开(公告)号：US08735825B2

公开(公告)日：2014-05-27

申请号：US13441430

申请日：2012-04-06

Applicant: Daisuke Nakanishi ,  Kanechika Kiyose

Inventor： Daisuke Nakanishi ,  Kanechika Kiyose

IPC: G01J5/02 ,  G01B11/00 ,  G01S17/06 ,  G06F3/042

CPC classification number: G01S17/06 ,  G01S17/875 ,  G06F3/042

Abstract: In an optical position detection device, when light source sections emit detection light, a light detecting section detects detection light reflected from a object to detect the coordinates of the object. When seen from the detection space, the light detecting section is located inward from a plurality of light source sections, and each of the plurality of light source sections includes first and second light emitting elements. Therefore, the position of the object can be detected on the basis of a comparison result of the received light intensity in the light detecting section when the first light emitting element is turned on and the received light intensity in the light detecting section when the second light emitting element is turned on in both the case where the object is located outside a region between the light source sections and the case where the object is located inside the region.

Abstract translation: 在光学位置检测装置中，当光源部分发射检测光时，光检测部分检测从物体反射的检测光以检测物体的坐标。 当从检测空间看时，光检测部分从多个光源部分向内定位，并且多个光源部分中的每一个包括第一和第二发光元件。 因此，可以基于当第一发光元件被接通时光检测部分中的接收光强度的比较结果和当光检测部分中的接收光强度在第二光 在物体位于光源部分之间的区域和物体位于区域内的情况之外的情况下，发光元件都被接通。

公开(公告)号：US20140058667A1

公开(公告)日：2014-02-27

申请号：US13594962

申请日：2012-08-27

Applicant: Andreas Schuh ,  Kamal Youcef-Toumi

Inventor： Andreas Schuh ,  Kamal Youcef-Toumi

IPC: G01S17/06

CPC classification number: G01S17/875 ,  G01S5/16 ,  G01S17/42

Abstract: Localization and tracking system. The system includes at least one laser mounted for pointing its beam at arbitrary locations within a three-dimensional space. An object within the three-dimensional space supports a screen at its top for receiving the laser beam to create a shaped image on the screen. The shaped image on the screen is observed by a camera and computing apparatus determines the location of the object in the three-dimensional space from pointing parameters of the laser and from shape and center points of the shaped image on the screen.

Abstract translation: 本地化跟踪系统 该系统包括至少一个激光器，用于将其光束指向三维空间内的任意位置。 三维空间内的物体在其顶部支撑屏幕，用于接收激光束以在屏幕上创建成形图像。 通过照相机观察屏幕上的成像图像，并且计算装置从激光的指示参数以及屏幕上的成形图像的形状和中心点确定三维空间中的对象的位置。