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1. 发明授权

US08620474B2 Control device and method for a manipulator 有权
标题翻译：机械手的控制装置和方法
公开(公告)号：US08620474B2
公开(公告)日：2013-12-31
申请号：US12695198
申请日：2010-01-28
申请人： Christian Sonner , Uwe Zimmermann
发明人： Christian Sonner , Uwe Zimmermann
IPC分类号： G05B15/00 , G05B19/00 , G05B19/04 , G05B19/18 , G05B19/416
CPC分类号： B25J9/1674 , B25J9/1664 , G05B2219/40336 , G05B2219/40358 , G05B2219/40453 , G05B2219/40521 , G05B2219/42289
摘要： In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
摘要翻译：在用于控制机械手，特别是机器人的方法中，存储参考路径，并且在跟随路径之后自动确定参考增量，基于在跟随路径的同时机械手的动力学来确定参考增量。

2. 发明申请

US20110224815A1 Industrial Robot And Path Planning Method For Controlling The Movement Of An Industrial Robot 审中-公开
标题翻译：用于控制工业机器人运动的工业机器人和路径规划方法
公开(公告)号：US20110224815A1
公开(公告)日：2011-09-15
申请号：US13122904
申请日：2009-10-05
申请人： Christian Sonner , Martin Weiss , Uwe Zimmermann
发明人： Christian Sonner , Martin Weiss , Uwe Zimmermann
IPC分类号： B25J9/12
CPC分类号： B25J9/1664 , G05B2219/40363 , G05B2219/40416 , G05B2219/45104 , G05B2219/45138
摘要： The invention relates to an industrial robot (1) and to a path planning method for controlling the movement of an industrial robot (1), on the robot arm (2) of which an effector, particularly a remote laser welding device (9), is mounted, said effector being provided for the processing of process points at a predetermined distance (f) to a first defined point (8a) of the industrial robot (1).
摘要翻译：本发明涉及一种工业机器人（1）和用于控制工业机器人（1）在其机器人臂（2）上的运动的路径规划方法，其中，所述机器人臂（2）具有效应器，特别是远程激光焊接装置（9）所述效应器被提供用于处理与工业机器人（1）的第一限定点（8a）预定距离（f）的处理点。

3. 发明申请

US20100198404A1 CONTROL DEVICE AND METHOD FOR A MANIPULATOR 有权
标题翻译：用于操纵器的控制装置和方法
公开(公告)号：US20100198404A1
公开(公告)日：2010-08-05
申请号：US12695198
申请日：2010-01-28
申请人： Christian Sonner , Uwe Zimmermann
发明人： Christian Sonner , Uwe Zimmermann
IPC分类号： B25J9/16 , G05B19/00 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1674 , B25J9/1664 , G05B2219/40336 , G05B2219/40358 , G05B2219/40453 , G05B2219/40521 , G05B2219/42289
摘要： In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
摘要翻译：在用于控制机械手，特别是机器人的方法中，存储参考路径，并且在跟随路径之后自动确定参考增量，基于在跟随路径的同时机械手的动力学来确定参考增量。

4. 发明授权

US08754761B2 Control unit and method for automatically guiding a vehicle 有权
标题翻译：用于自动引导车辆的控制单元和方法
公开(公告)号：US08754761B2
公开(公告)日：2014-06-17
申请号：US12998485
申请日：2009-09-16
申请人： Markus Koehler , Michael Scherl , Matthias Haug , Uwe Zimmermann
发明人： Markus Koehler , Michael Scherl , Matthias Haug , Uwe Zimmermann
IPC分类号： B60Q1/00 , G05D1/00
CPC分类号： B62D15/0285 , B60K28/066 , B60T7/042 , B60T7/22 , B60T2201/10
摘要： A control unit for automatically guiding a vehicle, in particular during a parking procedure, has an interface to a monitoring unit of a brake operating unit of the vehicle to ascertain a braking readiness of the driver in such a way that automatic guiding of the vehicle is interrupted if a braking readiness of a driver is not detected.
摘要翻译：用于自动引导车辆的控制单元，特别是在停车过程中，具有与车辆的制动操作单元的监视单元的接口，以确定驾驶员的制动准备，使得车辆的自动引导是如果没有检测到驾驶员的制动准备就中断。

5. 发明授权

US08659407B2 Sensor device for capacitively ascertaining distance 失效
标题翻译：用于电容确定距离的传感器装置
公开(公告)号：US08659407B2
公开(公告)日：2014-02-25
申请号：US12733733
申请日：2008-09-11
申请人： Rudolf Merkel , Uwe Zimmermann
发明人： Rudolf Merkel , Uwe Zimmermann
IPC分类号： B60Q1/00 , G08B21/00 , G08B13/00 , G01R27/26
CPC分类号： G01B7/023
摘要： A sensor unit, in particular a sensor unit in or on a vehicle, for capacitively ascertaining the distance between the sensor device and an object, having an electrode for forming a capacitive system with the object and an apparatus for creating a signal proportional to the capacitance of the capacitive system. The sensor unit has a reference electrode for forming a capacitive reference system with the object, an additional apparatus for creating a reference signal proportional to the capacitance of the capacitive reference system, and an analyzer device for ascertaining the distance by forming a ratio of the signal and the reference signal, the reference electrodes having an electrode shape, which is different from the electrode shape of the electrode.
摘要翻译：传感器单元，特别是车辆中或车辆上的传感器单元，用于电容地确定传感器装置和物体之间的距离，具有用于与物体形成电容系统的电极和用于产生与电容成比例的信号的装置的电容系统。传感器单元具有用于形成与该物体的电容参考系统的参考电极，用于产生与电容参考系统的电容成比例的参考信号的附加装置，以及用于通过形成信号比率来确定距离的分析器装置和参考信号，参考电极具有与电极的电极形状不同的电极形状。

6. 发明授权

US08422737B2 Device and method for measuring a parking space 失效
标题翻译：用于测量停车位的装置和方法
公开(公告)号：US08422737B2
公开(公告)日：2013-04-16
申请号：US12735341
申请日：2008-11-11
申请人： Michael Scherl , Uwe Zimmermann
发明人： Michael Scherl , Uwe Zimmermann
IPC分类号： G06K9/00
CPC分类号： G01S17/936 , G01S17/36 , G01S2013/9314 , G01S2015/934 , G01S2015/935
摘要： A device for measuring a parking space as a vehicle drives past the parking space includes a depth-measuring line scan camera movable together with the vehicle for acquiring individual images of the environment surrounding the vehicle transverse to a longitudinal direction of the vehicle, an arrangement for acquiring the movement of the vehicle, and an evaluation device. The individual images of the environment surrounding the vehicle contain depth information that is resolvable in a vertical direction.
摘要翻译：一种用于测量作为车辆的停车空间的装置驱动通过停车空间的装置包括与车辆一起移动的深度测量线扫描照相机，用于获取横向于车辆纵向方向的车辆周围环境的各种图像，获取车辆的运动，以及评估装置。围绕车辆的环境的各个图像包含可在垂直方向上解析的深度信息。

7. 发明授权

US07554484B2 Object detection system 失效
标题翻译：对象检测系统
公开(公告)号：US07554484B2
公开(公告)日：2009-06-30
申请号：US10563990
申请日：2001-02-22
申请人： Uwe Zimmermann , Achim Pruksch , Werner Uhler
发明人： Uwe Zimmermann , Achim Pruksch , Werner Uhler
IPC分类号： G01S13/00
CPC分类号： G01S13/87 , G01S13/867 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9364 , G01S2013/9367 , G01S2013/9375
摘要： An object detection system, in particular for a motor vehicle, has multiple object detectors and/or operating modes with which different detection ranges and/or detection zones are detected. In this case, an object detector is preferably a radar sensor which has a relatively large detection range with a relatively small angular detection zone in a first operating mode and has a detection range that is small relative to the first with an enlarged angular detection zone in a second operating mode.
摘要翻译：特别是用于机动车辆的物体检测系统具有检测不同检测范围和/或检测区域的多个物体检测器和/或操作模式。在这种情况下，物体检测器优选地是雷达传感器，其具有相对较大的检测范围，在第一操作模式中具有相对小的角度检测区域，并且具有相对于具有放大的角度检测区域的第一检测范围小的检测范围第二种操作模式。

8. 发明授权

US5916443A Filter apparatus for the uniform filtering of plastic melts 失效
标题翻译：用于均匀过滤塑料熔体的过滤装置
公开(公告)号：US5916443A
公开(公告)日：1999-06-29
申请号：US851192
申请日：1997-05-05
申请人： Harald Mueller , Heinz-Werner Zimmermann , Uwe Zimmermann
发明人： Harald Mueller , Heinz-Werner Zimmermann , Uwe Zimmermann
IPC分类号： D01D1/10 , B01D29/41 , B29C47/68 , B01D35/30
CPC分类号： B29C47/68 , B01D29/41 , B29C47/081 , B01D2201/44 , B29C47/0009 , B29C47/0884 , B29C47/0886 , B29C47/687
摘要： In a filter apparatus 1, a central filter rod 6 is arranged in the interior 14 of a filter housing 2, the diameter d of which filter rod tapers in the direction of flow of the plastic melt. On the filter rod 6 are arranged filter discs 7 which are parallel to one another and have outer and inner diameters of equal size. The filter apparatus 1 operates as a continuous-flow filter apparatus in which the plastic melt flows in via an intake 4 and flows out via an outlet 5. A filter housing wall inner surface 3 tapers in the direction of flow of the plastic melt, so that a gap width h.sub.a (x) between a filter disc outer rim 8 and the filter housing wall inner surface 3 decreases in the direction of flow of the plastic melt.
摘要翻译：在过滤器装置1中，过滤器壳体2的内部14中布置有中心过滤嘴杆6，其过滤杆的直径d在塑料熔体的流动方向上逐渐变细。在过滤杆6上设置有彼此平行且具有相同尺寸的外径和内径的过滤盘7。过滤装置1作为连续流动过滤装置操作，其中塑料熔体经由进气口4流入并经由出口5流出。过滤器壳体壁内表面3沿着塑料熔体的流动方向逐渐变细，因此滤芯外缘8和过滤器壳体壁内表面3之间的间隙宽度ha（x）在塑性熔体的流动方向上减小。

9. 发明授权

US5709192A Method for determining the differences between non-uniform cylinder torque moments in an internal combustion engine and application of the method 失效
标题翻译：用于确定内燃机中不均匀气缸扭矩之间的差异的方法和方法的应用
公开(公告)号：US5709192A
公开(公告)日：1998-01-20
申请号：US712589
申请日：1996-09-13
申请人： Uwe Zimmermann
发明人： Uwe Zimmermann
IPC分类号： F02D41/00 , F02D41/14 , F02D41/36 , G01M15/04 , G01P3/46 , F02D41/04 , F02D41/32
CPC分类号： G01P3/46 , F02D41/0087 , F02D41/1498 , G01M15/046 , F02D2200/1015
摘要： Relative differences between cylinder torque moments are individually determined for each cylinder in a multicylinder internal combustion engine in which individual cylinders may be switched off. The torque moment differences are ascertained indirectly when the engine is subject to inner and outer resistance moments and to the inertia moments of all masses to be accelerated. Under these conditions the crankshaft r.p.m. is measured and the r.p.m. signal is split into components for the individual cylinders by applying the superposition principle of linear systems. The first r.p.m. is determined when all cylinders work. The second r.p.m. is determined with all cylinders but one working and the second r.p.m. is deducted from the first r.p.m. Gradually one cylinder after the other is switched off and the respective differences in the r.p.m. are ascertained. These r.p.m. differences are allocated to the ignition compression and are compared with a difference r.p.m. of a reference cylinder. This comparing provides a torque difference for each cylinder relative to the reference cylinder. The results are then treated statistically, for example by the least square method to determine numerical values which are converted into closed loop control signals for controlling injection fuel quantities for each cylinder so that each cylinder will contribute the same moment component to the total torque moment of the engine.
摘要翻译：在单缸内燃机中，每个汽缸可分别确定缸体扭矩之间的相对差异，其中可以关闭各个汽缸。当发动机受到内外阻力矩和所有质量的惯性力矩加速时，间接确定扭矩差。在这些条件下，曲轴转速测量和r.p.m. 通过应用线性系统的叠加原理，信号被分成用于各个气缸的部件。第一个r.p.m. 在所有气缸工作时确定。第二个r.p.m. 由所有气瓶确定，但一个工作，第二个r.p.m。从第一个r.p.m.中扣除另一个之后逐渐关闭一个气缸，并在r.p.m. 被确定。这些r.p.m. 将差异分配给点火压缩并与差异r.p.m进行比较。的参考柱。该比较提供了每个气缸相对于参考气缸的扭矩差。然后对结果进行统计学处理，例如通过最小二乘法确定转换成闭环控制信号的数值，以控制每个气缸的喷射燃料量，以使每个气缸都能将相同的力矩分量贡献给总转矩矩引擎。

10. 发明授权

US08649906B2 Robot and method for monitoring the torque on such a robot 有权
标题翻译：用于监测这种机器人的转矩的机器人和方法
公开(公告)号：US08649906B2
公开(公告)日：2014-02-11
申请号：US12809837
申请日：2008-12-11
申请人： Rainer Bischoff , Eugen Heinze , Ralf Koeppe , Johannes Kurth , Gunter Schreiber , Uwe Zimmermann
发明人： Rainer Bischoff , Eugen Heinze , Ralf Koeppe , Johannes Kurth , Gunter Schreiber , Uwe Zimmermann
IPC分类号： B25J9/04
CPC分类号： B25J19/06 , B25J13/085 , G01L3/108
摘要： In order to increase the safety of a robot that may come into contact with other robots, objects or humans, the invention provides that said robot comprises at least two joints and parts that are moveable in relation to each other via at least one joint. At least one sensor (31) is arranged on at least one moveable part (3, 4, 5′, 6, 7), detecting torque. Sensor components (21′, 22.1, 22.2) of the sensor (31) are designed for the redundant detection of a torque, or for the redundant detection of a torque of at least two sensors (31) are provided, and redundant evaluation units are provided for the redundant evaluation. In order to increase safety, the invention further provides a method for monitoring torque on a robot of said kind, wherein at least a torque on at least one movable part (3, 4, 5′, 6, 7) is redundantly detected and redundantly evaluated on at least one moveable part (3, 4, 5′, 6, 7) by means of two sensor components of a sensor (31) or by means of two sensors (31).
摘要翻译：为了增加可能与其他机器人，物体或人接触的机器人的安全性，本发明提供了所述机器人包括至少两个接头和可经由至少一个接头相对于彼此移动的部件。至少一个传感器（31）布置在至少一个可移动部件（3,4,5'，6,7）上，检测扭矩。传感器（31）的传感器部件（21'，22.1,22.2）被设计用于扭矩的冗余检测，或用于至少两个传感器（31）的扭矩的冗余检测，冗余评估单元提供冗余评估。为了增加安全性，本发明还提供了一种用于监视所述类型的机器人的扭矩的方法，其中至少一个可移动部分（3,4,5'，6,7）上的至少一个扭矩被冗余地检测和冗余通过传感器（31）的两个传感器部件或借助于两个传感器（31）在至少一个可移动部分（3,4,5'，6,7）上进行评估。

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