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1. 发明授权

US07800739B2 Distance measuring method and distance measuring element for detecting the spatial dimension of a target 有权
标题翻译：距离测量方法和距离测量元件，用于检测目标的空间维度
公开(公告)号：US07800739B2
公开(公告)日：2010-09-21
申请号：US12301025
申请日：2007-05-11
申请人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
发明人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
IPC分类号： G01C3/08
CPC分类号： G01S7/487 , G01S7/4865 , G01S7/497 , G01S17/107 , G01S17/89
摘要： A distance measuring method for detecting the spatial dimension of at least one target by at least one emission of a multiplicity of light pulses, in particular laser light, towards the target, detecting the light pulse scattered back by the target by means of a multiplicity of distance measuring pixels and eliminating the distance to the target for each pixel, wherein each light pulse can be detected within a measuring interval Ti from at least two partial intervals tij and the detection of at least one repetition constitutes a detection step performed in at least two stages wherein the measuring interval T˜ is shortened from stage to stage.
摘要翻译：一种距离测量方法，用于通过对目标的多个光脉冲，特别是激光的至少一个发射来检测至少一个目标的空间维度，通过多个检测目标检测目标散射的光脉冲距离测量像素并且消除与每个像素到目标的距离，其中每个光脉冲可以在至少两个部分间隔tij的测量间隔Ti内检测，并且至少一个重复的检测构成在至少两个执行中的检测步骤测量间隔T〜从阶段缩短到阶段。

2. 发明申请

US20090185159A1 DISTANCE MEASURING METHOD AND DISTANCE MEASURING ELEMENT FOR DETECTING THE SPATIAL DIMENSION OF A TARGET 有权
标题翻译：用于检测目标空间尺寸的距离测量方法和距离测量单元
公开(公告)号：US20090185159A1
公开(公告)日：2009-07-23
申请号：US12301025
申请日：2007-05-11
申请人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
发明人： Marcel Rohner , Beat Aebischer , Thomas Jensen , Knut Siercks
IPC分类号： G01C3/08
CPC分类号： G01S7/487 , G01S7/4865 , G01S7/497 , G01S17/107 , G01S17/89
摘要： A distance measuring method for detecting the spatial dimension of at least one target by at least one emission of a multiplicity of light pulses, in particular laser light, towards the target, detecting the light pulse scattered back by the target by means of a multiplicity of distance measuring pixels and eliminating the distance to the target for each pixel, wherein each light pulse can be detected within a measuring interval Ti from at least two partial intervals ti,j and the detection of at least one repetition constitutes a detection step performed in at least two stages wherein the measuring interval Ti is shortened from stage to stage.
摘要翻译：一种距离测量方法，用于通过对目标的多个光脉冲，特别是激光的至少一个发射来检测至少一个目标的空间维度，通过多个检测目标检测目标散射的光脉冲距离测量像素并且消除每个像素到目标的距离，其中可以在至少两个部分间隔ti，j处的测量间隔Ti内检测每个光脉冲，并且至少一个重复的检测构成检测步骤至少两个阶段，其中测量间隔Ti从一个阶段缩短到一个阶段。

3. 发明申请

US20100274390A1 METHOD AND SYSTEM FOR THE HIGH-PRECISION POSITIONING OF AT LEAST ONE OBJECT IN A FINAL LOCATION IN SPACE 有权
标题翻译：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。

4. 发明申请

US20100039656A1 METHOD FOR DETERMINING AN INFLUENCING VARIABLE ACTING ON THE ECCENTRICITY IN A GONIOMETER 有权
标题翻译：确定影响差异偏差的变量的方法
公开(公告)号：US20100039656A1
公开(公告)日：2010-02-18
申请号：US12522198
申请日：2007-12-06
申请人： Heinz Lippuner , Knut Siercks , Beat Aebischer
发明人： Heinz Lippuner , Knut Siercks , Beat Aebischer
IPC分类号： G01D5/347
CPC分类号： G01D5/34707 , G01D5/24452 , G01D5/24466 , G01D5/2449 , G01D5/3473
摘要： The invention relates to a method for determining at least one influencing variable acting on the eccentricity in a goniometer, using a detector arrangement consisting of four optical detector elements, and a rotational body comprising a plurality of pattern elements arranged around a pattern center, the rotational body being rotatably arranged about an axis. According to said method, at least some of the pattern elements are reproduced on the detector arrangement, the positions of the pattern elements reproduced on the detector arrangement are resolved, and the eccentricity of the pattern center in relation to a detector center of the detector arrangement is determined. A plurality of such eccentricity measurements for different rotational positions enables different influencing variables acting on the current eccentricity to be separated, especially by forming units.
摘要翻译：本发明涉及一种用于使用由四个光学检测器元件组成的检测器装置来确定作用于测角器中的偏心的至少一个影响变量的方法，以及包括围绕图案中心布置的多个图案元件的旋转体，主体围绕轴线可旋转地布置。根据所述方法，在检测器装置上再现至少一些图形元素，解析在检测器装置上再现的图案元素的位置，并且图案中心相对于检测器装置的检测器中心的偏心度决心，决意，决定。用于不同旋转位置的多个这种偏心测量使得能够分离作用于当前偏心的不同影响变量，特别是通过形成单元。

5. 发明授权

US08798794B2 Method and system for highly precisely positioning at least one object in an end position in space 有权
标题翻译：用于将至少一个物体精确地定位在空间中的终点位置的方法和系统
公开(公告)号：US08798794B2
公开(公告)日：2014-08-05
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 , B25J9/16 , G06T7/00
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和与位置差有关的值。将工业机器人移动到新的目标位置。

6. 发明授权

US08346392B2 Method and system for the high-precision positioning of at least one object in a final location in space 有权
标题翻译：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。

7. 发明申请

US20120072021A1 METHOD AND SYSTEM FOR HIGHLY PRECISELY POSITIONING AT LEAST ONE OBJECT IN AN END POSITION IN SPACE 有权
标题翻译：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。

8. 发明授权

US08031334B2 Method for determining an influencing variable acting on the eccentricity in a goniometer 有权
标题翻译：确定作用在测角器偏心度的影响变量的方法
公开(公告)号：US08031334B2
公开(公告)日：2011-10-04
申请号：US12522198
申请日：2007-12-06
申请人： Heinz Lippuner , Knut Siercks , Beat Aebischer
发明人： Heinz Lippuner , Knut Siercks , Beat Aebischer
IPC分类号： G01B11/26
CPC分类号： G01D5/34707 , G01D5/24452 , G01D5/24466 , G01D5/2449 , G01D5/3473
摘要： The invention relates to a method for determining at least one influencing variable acting on the eccentricity in a goniometer, using a detector arrangement consisting of four optical detector elements, and a rotational body comprising a plurality of pattern elements arranged around a pattern center, the rotational body being rotatably arranged about an axis. According to said method, at least some of the pattern elements are reproduced on the detector arrangement, the positions of the pattern elements reproduced on the detector arrangement are resolved, and the eccentricity of the pattern center in relation to a detector center of the detector arrangement is determined. A plurality of such eccentricity measurements for different rotational positions enables different influencing variables acting on the current eccentricity to be separated, especially by forming units.
摘要翻译：本发明涉及一种用于使用由四个光学检测器元件组成的检测器装置来确定作用于测角器中的偏心的至少一个影响变量的方法，以及包括围绕图案中心布置的多个图案元件的旋转体，主体围绕轴线可旋转地布置。根据所述方法，在检测器装置上再现至少一些图形元素，解析在检测器装置上再现的图案元素的位置，并且图案中心相对于检测器装置的检测器中心的偏心度决心，决意，决定。用于不同旋转位置的多个这种偏心测量使得能够分离作用于当前偏心的不同影响变量，特别是通过形成单元。

9. 发明授权

US09127929B2 Method and measuring device for gauging surfaces 有权
标题翻译：测量表面的方法和测量装置
公开(公告)号：US09127929B2
公开(公告)日：2015-09-08
申请号：US12675191
申请日：2008-08-22
申请人： Knut Siercks , Thomas Jensen , Klaus Schneider
发明人： Knut Siercks , Thomas Jensen , Klaus Schneider
IPC分类号： G01B11/02 , G01B11/00
CPC分类号： G01B11/005
摘要： In a method for gauging surfaces (7″), in which a frequency-modulated laser beam is generated, the laser beam is emitted onto the surface as measuring radiation (MS), the measuring radiation (MS) backscattered from the surface (7″) is received and the distance between a reference point and the surface (7″) is measured interferometrically, wherein the measuring radiation (MS) is emitted and received while the surface to be gauged is being scanned, and a measuring arm and a reference interferometer arm with a partially common beam path are used, deviations from the essentially perpendicular impingement of the measuring radiation (MS) on the surface (7″) are taken into account algorithmically during distance measurement and/or are avoided or reduced during scanning by controlling the emission of the measuring radiation (MS).
摘要翻译：在用于测量其中产生调频激光束的表面（7“）的方法中，激光束作为测量辐射（MS）发射到表面上，从表面（7”）反向散射的测量辐射（MS）），并且干涉测量参考点和表面（7“）之间的距离，其中在要被测量的表面被扫描时发射和接收测量辐射（MS），并且测量臂和参考干涉仪使用具有部分共同光束路径的臂，在距离测量期间在算法上考虑表面（7“）上的测量辐射（MS）的基本上垂直的冲击的偏差和/或在扫描期间通过控制发射测量辐射（MS）。

10. 发明授权

US07933055B2 Laser scanner 有权
标题翻译：激光扫描仪
公开(公告)号：US07933055B2
公开(公告)日：2011-04-26
申请号：US12377278
申请日：2007-08-16
申请人： Thomas Jensen , Knut Siercks
发明人： Thomas Jensen , Knut Siercks
IPC分类号： G02B26/08
CPC分类号： G01S17/42 , G01S7/4817 , G01S7/4818 , G01S17/89 , G02B6/32 , G02B6/4204
摘要： A laser scanner for detecting spatial surroundings comprises a stator (21), a rotor (1), mounted on the stator (21) to be rotatable about a first rotational axis, and a rotary body (2), mounted on the rotor (1) to be rotatable about a second rotational axis. A laser source (6) and a detector (7) are arranged in the rotor (1). One optical link (9) each is configured on the second rotational axis on every side of the rotary body (2) between the rotor (1) and the rotary body (2) so that emission light can be introduced by the laser source into the rotary body (2) via the first optical link (8) and reception light can be discharge from the rotary body (2) via the second optical link (9). A first rotary drive (25) drives the rotor (21) and a second rotary drive (26) drives the rotary body (2). Two goniometers (4) and evaluation electronics (5) which are connected to the laser source (6) and the detector (7) allow association of a detected distance with a corresponding direction. The rotary body (2) can have a very compact design, is completely passive and therefore does not require any power supply or transmission of signals.
摘要翻译：一种用于检测空间环境的激光扫描仪，包括一个安装在定子上的定子（21），一个转子（1），可绕第一旋转轴线转动;以及一个旋转体（2），安装在转子）可绕第二旋转轴线旋转。激光源（6）和检测器（7）布置在转子（1）中。在旋转体（2）的旋转体（2）的旋转体（2）的两侧的第二旋转轴上配置有一个光学连杆（9），使得能够通过激光源将发光发射到经由第一光学连杆（8）的旋转体（2）和接收光可以经由第二光学连接件（9）从旋转体（2）排出。第一旋转驱动器（25）驱动转子（21），第二旋转驱动器（26）驱动旋转体（2）。连接到激光源（6）和检测器（7）的两个测角器（4）和评估电路（5）允许检测到的距离与相应的方向相关联。旋转体（2）可以具有非常紧凑的设计，是完全无源的，因此不需要任何电源或信号传输。

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