公开(公告)号：US08596217B2

公开(公告)日：2013-12-03

申请号：US12278919

申请日：2007-02-06

申请人： Peter Kipfer ,  Christian Betschon ,  Bernd Walser

发明人： Peter Kipfer ,  Christian Betschon ,  Bernd Walser

IPC分类号： B05C11/00 ,  B05B9/06 ,  E01C23/09 ,  A01G25/09

CPC分类号： G05D1/0236 ,  A63C2019/067 ,  A63C2203/18

摘要： An application controller for an application unit, for marking substances comprises a radiation sensor, by means of which the relative position of the application unit relative to a reference plane may be determined. The relative position of the application unit can be determined by means for recording the orientation of the application unit controller relative to the reference plane from the association of position with orientation information, such that control instructions, in particular for positional correction may be generated by the application unit controller. The position of the application unit can be adjusted by an actuator device according to the control instructions.

摘要翻译： 用于标记物质的应用单元的应用控制器包括辐射传感器，通过该辐射传感器可以确定应用单元相对于参考平面的相对位置。 应用单元的相对位置可以通过从位置与方位信息的关联来记录应用单元控制器相对于参考平面的方向的装置来确定，使得特别是用于位置校正的控制指令可以由 应用单元控制器。 应用单元的位置可以通过根据控制指令的致动器装置来调节。

公开(公告)号：US20070062053A1

公开(公告)日：2007-03-22

申请号：US11277221

申请日：2006-03-22

申请人： Bernd Walser ,  Bernhard Braunecker ,  Peter Kipfer ,  Christian Betschon

发明人： Bernd Walser ,  Bernhard Braunecker ,  Peter Kipfer ,  Christian Betschon

IPC分类号： G01C15/00

CPC分类号： G01C15/004 ,  A63C19/06 ,  Y10S33/21

摘要： A reference beam generator (1) for guiding a field marker for ground markings has a support element (11) which can be positioned in a defined manner relative to the Earth's surface, a laser diode and beam guidance means for the emission of the radiation (LS) to at least one reference target (4), the radiation (LS) being emitted with an asymmetrical beam cross-section (5), in particular in the form of a fan, and the beam guidance means being adjustable in a defined manner relative to the support element (11). The radiation (LS) can be aligned with the reference target (4) by an optical detection component for detecting and providing the radiation reflected by the reference target, in particular a telescope (12).

摘要翻译： 用于引导用于接地标记的场标记的参考光束发生器（1）具有能够以相对于地球表面的限定方式定位的支撑元件（11），用于发射辐射的激光二极管和光束引导装置 LS）发射到至少一个参考目标（4），所述辐射（LS）以不对称的光束横截面（5）发射，特别是以风扇的形式发射，并且光束引导装置以限定的方式可调节 相对于支撑元件（11）。 辐射（LS）可以通过用于检测和提供由参考目标，特别是望远镜（12）反射的辐射的光学检测部件与参考目标（4）对准。

公开(公告)号：US20090010712A1

公开(公告)日：2009-01-08

申请号：US12278919

申请日：2007-02-06

申请人： Peter Kipfer ,  Christian Betschon ,  Bernd Walser

发明人： Peter Kipfer ,  Christian Betschon ,  Bernd Walser

IPC分类号： E01C23/07

CPC分类号： G05D1/0236 ,  A63C2019/067 ,  A63C2203/18

摘要： An application controller for an application unit, for marking substances comprises a radiation sensor, by means of which the relative position of the application unit relative to a reference plane may be determined. The relative position of the application unit can be determined by means for recording the orientation of the application unit controller relative to the reference plane from the association of position with orientation information, such that control instructions, in particular for positional correction may be generated by the application unit controller. The position of the application unit can be adjusted by an actuator device according to the control instructions.

摘要翻译： 用于标记物质的应用单元的应用控制器包括辐射传感器，借助于该辐射传感器可以确定应用单元相对于参考平面的相对位置。 应用单元的相对位置可以通过从位置与方位信息的关联来记录应用单元控制器相对于参考平面的方向的装置来确定，使得特别是用于位置校正的控制指令可以由 应用单元控制器。 应用单元的位置可以通过根据控制指令的致动器装置来调节。

公开(公告)号：US07434322B2

公开(公告)日：2008-10-14

申请号：US11277221

申请日：2006-03-22

申请人： Bernd Walser ,  Bernhard Braunecker ,  Peter Kipfer ,  Christian Betschon

发明人： Bernd Walser ,  Bernhard Braunecker ,  Peter Kipfer ,  Christian Betschon

IPC分类号： G01B11/26 ,  G01C15/12

CPC分类号： G01C15/004 ,  A63C19/06 ,  Y10S33/21

摘要： A reference beam generator (1) for guiding a field marker for ground markings has a support element (11) which can be positioned in a defined manner relative to the Earth's surface, a laser diode and beam guidance means for the emission of the radiation (LS) to at least one reference target (4), the radiation (LS) being emitted with an asymmetrical beam cross-section (5), in particular in the form of a fan, and the beam guidance means being adjustable in a defined manner relative to the support element (11). The radiation (LS) can be aligned with the reference target (4) by an optical detection component for detecting and providing the radiation reflected by the reference target, in particular a telescope (12).

摘要翻译： 用于引导用于接地标记的场标记的参考光束发生器（1）具有能够以相对于地球表面的限定方式定位的支撑元件（11），用于发射辐射的激光二极管和光束引导装置 LS）发射到至少一个参考目标（4），所述辐射（LS）以不对称的光束横截面（5）发射，特别是以风扇的形式发射，并且光束引导装置以限定的方式可调节 相对于支撑元件（11）。 辐射（LS）可以通过用于检测和提供由参考目标，特别是望远镜（12）反射的辐射的光学检测部件与参考目标（4）对准。

公开(公告)号：US20120062730A1

公开(公告)日：2012-03-15

申请号：US13320952

申请日：2010-05-03

申请人： Gert Ferrano ,  Bernd Walser ,  Kristian Morin

发明人： Gert Ferrano ,  Bernd Walser ,  Kristian Morin

IPC分类号： H04N7/18 ,  H04N5/217

CPC分类号： H04N5/3692 ,  G01C11/02 ,  G03B9/00 ,  H04N7/18

摘要： The invention relates to a method for correcting a distortion in an aerial photograph caused by a flight movement in the forward direction. The aerial photograph is captured by a surface sensor, the sensor lines of which sensor are exposed at different, successive exposure times, so that each individual sensor line senses a strip of terrain of the terrain flow over at the different exposure times. A relative flight altitude above the strips of terrain captured by the respective sensor line is assigned to the individual sensor lines. Furthermore, a compensation factor is separately determined for each of the individual sensor lines, wherein the factor depends on an air speed of the flying object, a focal length of the aerial camera and the relative flight altitude assigned to the respective sensor line, and corrects the distortion in the aerial photograph for the lines based on the respective compensation factor.

摘要翻译： 本发明涉及一种用于校正由向前方向的飞行运动引起的航空照片中的失真的方法。 航空照片由表面传感器捕获，传感器的传感器线以不同的连续曝光时间曝光，使得每个传感器线在不同的曝光时间内感测到地形的地形条。 高于相应传感器线捕获的地形条上的相对飞行高度被分配给各个传感器线。 此外，对于每个单独的传感器线分别确定补偿因子，其中该因素取决于飞行物体的空气速度，空中摄像机的焦距和分配给相应传感器线的相对飞行高度，并且校正 基于相应的补偿因子的线路的空中照片的失真。

公开(公告)号：US09154717B2

公开(公告)日：2015-10-06

申请号：US13320952

申请日：2010-05-03

申请人： Gert Ferrano ,  Bernd Walser ,  Kristian Morin

发明人： Gert Ferrano ,  Bernd Walser ,  Kristian Morin

IPC分类号： H04N5/369 ,  G01C11/02 ,  G03B9/00 ,  H04N7/18

CPC分类号： H04N5/3692 ,  G01C11/02 ,  G03B9/00 ,  H04N7/18

摘要： The invention relates to a method for correcting a distortion in an aerial photograph caused by a flight movement in the forward direction. The aerial photograph is captured by a surface sensor, the sensor lines of which sensor are exposed at different, successive exposure times, so that each individual sensor line senses a strip of terrain of the terrain flow over at the different exposure times. A relative flight altitude above the strips of terrain captured by the respective sensor line is assigned to the individual sensor lines. Furthermore, a compensation factor is separately determined for each of the individual sensor lines, wherein the factor depends on an air speed of the flying object, a focal length of the aerial camera and the relative flight altitude assigned to the respective sensor line, and corrects the distortion in the aerial photograph for the lines based on the respective compensation factor.

摘要翻译： 本发明涉及一种用于校正由向前方向的飞行运动引起的航空照片中的失真的方法。 航空照片由表面传感器捕获，传感器的传感器线以不同的连续曝光时间曝光，使得每个传感器线在不同的曝光时间内感测到地形的地形条。 高于相应传感器线捕获的地形条上的相对飞行高度被分配给各个传感器线。 此外，对于每个单独的传感器线分别确定补偿因子，其中该因素取决于飞行物体的空气速度，空中摄像机的焦距和分配给相应传感器线的相对飞行高度，并且校正 基于相应的补偿因子的线路的空中照片的失真。

公开(公告)号：US09752863B2

公开(公告)日：2017-09-05

申请号：US14006096

申请日：2012-05-10

申请人： Juerg Hinderling ,  Bianca Gordon ,  Bernd Walser

发明人： Juerg Hinderling ,  Bianca Gordon ,  Bernd Walser

IPC分类号： H04N7/18 ,  G01B11/00 ,  G01C15/00 ,  G01S7/497 ,  G01S17/02 ,  G01S17/42

CPC分类号： G01B11/002 ,  G01C15/002 ,  G01S7/4972 ,  G01S17/023 ,  G01S17/42

摘要： A device having a scan function comprising an electro-optical distance measuring element having a laser axis as the target axis, a motorized optical deflection unit, which deflects the target axis by a deflection angle, and an angle measuring element for determining at least one angular position of the deflection unit. First measurement of angle coordinates of a reticle in a first angular position of the deflection unit as the first position, and second measurement of angle coordinates of the reticle in a second angular position of the deflection unit as the second position. The first and second measurements of the reticle are carried out on the basis of images taken with a camera, the optical axis of which is deflected by the deflection unit, and calibration parameters are determined on the basis of the angular positions and the angular coordinates in the first and second positions.

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。

公开(公告)号：US20140009604A1

公开(公告)日：2014-01-09

申请号：US14006096

申请日：2012-05-10

申请人： Juerg Hinderling ,  Bianca Gordon ,  Bernd Walser

发明人： Juerg Hinderling ,  Bianca Gordon ,  Bernd Walser

IPC分类号： G01B11/00

CPC分类号： G01B11/002 ,  G01C15/002 ,  G01S7/4972 ,  G01S17/023 ,  G01S17/42

摘要： A device having a scan function comprising an electro-optical distance measuring element having a laser axis as the target axis, a motorized optical deflection unit, which deflects the target axis by a deflection angle, and an angle measuring element for determining at least one angular position of the deflection unit. First measurement of angle coordinates of a reticle in a first angular position of the deflection unit as the first position, and second measurement of angle coordinates of the reticle in a second angular position of the deflection unit as the second position. The first and second measurements of the reticle are carried out on the basis of images taken with a camera, the optical axis of which is deflected by the deflection unit, and calibration parameters are determined on the basis of the angular positions and the angular coordinates in the first and second positions.

摘要翻译： 一种具有扫描功能的装置，包括具有激光轴作为目标轴的电光距离测量元件，使目标轴偏转偏转角的电动光学偏转单元和用于确定至少一个角度的角度测量元件 偏转单元的位置。 第一测量作为第一位置的偏转单元的第一角位置中的掩模版的角度坐标，以及在作为第二位置的偏转单元的第二角位置中的光罩的角度坐标的第二测量。 掩模版的第一次和第二次测量是基于用相机拍摄的图像进行的，该照相机的光轴被偏转单元偏转，并且基于角位置和角坐标来确定校准参数 第一和第二职位。

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。