| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 61 | VERFAHREN ZUR POSITIONIERUNG EINES SCHWEISSKOPFES MITTELS MIKROWELLEN | EP12724066.1 | 2012-05-11 | EP2637817B1 | 2015-07-15 | HADERER, Andreas; STELZER, Andreas |
| 62 | Verfahren und Vorrichtung zum lage- und winkelkompensierten Schweissen | EP06005467.3 | 2006-03-17 | EP1834755B1 | 2008-06-11 | Oxenfarth, Hans |
| 63 | APPARATUS AND METHOD FOR RAPID DETECTION OF OBJECTS WITH TIME DOMAIN IMPULSIVE SIGNALS | EP04785729 | 2004-03-12 | EP1601990A4 | 2008-01-23 | MCLEMORE DONALD P |
| A method and system are disclosed for detecting objects of interest in a target area using ultra wide band (UWB) RF signals. A transmitter and antenna array generate ultra wide band RF impulsive signals that are used to probe a target area that may include an object of interest. An antenna and a signal processor receive return signals from the target area and process the return signal to generate a set of coordinates. The coordinates of the processed return signals are compared to coordinates of known objects in a pre-existing database to determine whether there is a match between the return signal and a known object. When there is an indication of a match, the existence of the known object is displayed to an operator of the system. | ||||||
| 64 | Verfahren zur Erstellung einer Umgebungskarte und zur Bestimmung einer Eigenposition in der Umgebung durch eine selbstbewegliche Einheit | EP94110598.3 | 1994-07-07 | EP0635773A3 | 1996-02-14 | Rencken, Wolfgang, Dr. |
Die Erfindung beschreibt ein Orientierungs- und Kartenerstellungsverfahren für mobile Einheiten, die sich in einer unbekannten Umgebung bewegen. Zur Korrektur der Position der mobilen Einheit in der Umgebungskarte und der Lage einer Landmarke in der Umgebungskarte wird von einer bestimmten Position aus aufgrund der Bewegungshistorie ein bestimmter Abstand zur Landmarke prädiziert, und aufgrund der aktuellen Position ein bestimmter Abstand zur Landmarke gemessen. Dieser Unterschied, der zwischen der prädizierten und der gemessenen Entfernung zur Landmarke auftritt, wird als Systemfehler bezeichnet. Der Systemfehler wird nun in Kenntnis der Unsicherheit, die bei der Positionsbestimmung der mobilen Einheit und die bei der Lagebestimmung der Landmarke auftritt, in deren Verhältnis aufgeteilt und zur Korrektur der Position der mobilen Einheit und der Lage der Landmarke in der Umgebungskarte verwendet. So können die genannten Unsicherheiten während der Bewegung der mobilen Einheit verringert werden. Einsatzgebiete des Verfahrens liegen im Bereich von Haushaltsrobotern, von Industrierobotern, oder beispielsweise autonomen Transportfahrzeugen. |
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| 65 | ANWESENHEITSDETEKTION MITTELS FUNKSIGNALEN IN EINEM BELEUCHTUNGSSYSTEM | EP17725973.6 | 2017-05-29 | EP3391079A1 | 2018-10-24 | DAVULURU, Uday Teja; SIEGEL, Martin |
| The invention relates to a device for presence detection, comprising a means (2) for transmitting and receiving high-frequency radio signals (S1, S2) for data transfer, a means (3) for sensing a change, caused by the presence of an object (4) located in the receiving region of the transmitting and receiving means (2), in a high-frequency radio signal (S2) received by the transmitting and receiving means (2), and a means (5) for outputting a signal indicating the presence of an object (4) on the basis of the change sensed by the sensing means (3). | ||||||
| 66 | MONITORING SYSTEM USING MICROWAVES | EP17164695.3 | 2017-04-04 | EP3385748A1 | 2018-10-10 | Zlatanski, Martin; Sommer, Philipp; Madonna, Gian-Luigi; Zurfluh, Franz; Angelosante, Daniele |
A method (200) of monitoring at least one target (30) with a microwave motion detection system (1) is provided, which comprises: transmitting (210) microwave signals into an area (25) to be monitored; receiving (220) microwave signals reflected by a target (30); determining (230) location, speed, and estimated trajectory of the target (30) from the received microwave signals; determining (240) if the target (30) belongs to a static background or dynamic background; setting (250) an alarm condition, if the target (30) is determined not to belong to a static background or dynamic background and if it is determined that the target fulfils at least one condition of approaching to a protected item (50), based on the determined location, speed, and estimated trajectory (ET) of the target. Further, a respective microwave motion detection system (1) is provided.
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| 67 | AUTONOMOUS MOVING OBJECT | EP14816380.1 | 2014-11-24 | EP3074787B1 | 2018-07-11 | TAIRA, Tetsuya |
| An autonomous moving object includes: at least one distance sensor configured to detect distances to first and second positions located in a moving direction of the autonomous moving object on a road surface; and a determination unit configured to calculate a difference between a differential time between a time when the distance value to the first position detected by the at least one distance sensor is greater than a first threshold value and a time when the distance value to the second position is greater than a second threshold value and a moving time in which the autonomous moving object moves between the first and second positions and to determine that the distance sensor is abnormal only when the calculated difference is equal to or greater than a predetermined value. | ||||||
| 68 | AUTONOMOUS MOBILE ROBOT | EP14872506 | 2014-11-19 | EP3082543A4 | 2017-08-16 | SMITH JENNIFER |
| A robot includes a robot body having forward and rearward portions, a sonar system, a drive system, and a control system. The sonar system is disposed on the robot body and has an array of emitters and an array of receivers arranged along a forward surface of the forward portion of the robot body. The emitters emit a sound wave and the receivers receive reflections of the sound wave. The array of emitters includes an odd number of emitters and the array of receivers includes an even number of receivers. The drive system supports the robot body and is configured to maneuver the robot across a floor surface along a path. The control system is supports by the robot body and is in communication with the drive system and the sonar system. The control system processes sensor signals received from the array of receivers. | ||||||
| 69 | VERFAHREN ZUR POSITIONIERUNG EINES SCHWEISSKOPFES MITTELS MIKROWELLEN | EP12724066.1 | 2012-05-11 | EP2637817A1 | 2013-09-18 | HADERER, Andreas; STELZER, Andreas |
| The invention relates to a method for positioning a welding head or welding torch (7) of a robot welding system over a workpiece (14). For the position determination, a measuring signal is sent in the form of microwaves from a transmitter arranged on the welding head to the workpiece (14), the microwaves reflected on the workpiece (14) are received by at least one receiver arranged on the welding head, and the received microwaves are evaluated by an evaluation module for determining the position of an edge (26) of the workpiece (14). In order to provide an accurate, perturbation-sensitive position determination, the microwaves are sent from at least one transmitter in different positions on the welding head, and the reflected microwaves are received, with a change of polarisation, by at least one receiver arranged on the welding head, having a polarisation plane arranged at an angle to the polarisation plane of the transmitter, and the position of the edge (26) is determined by the evaluation module at least on the basis of a phase change of the respective microwaves reflected on the different positions. The invention also relates to a method for the model-supported positioning of a welding head of a robot welding system over a workpiece (14), wherein, for the position determination: a measuring signal is sent in the form of microwaves from a transmitter arranged on the welding head to the workpiece (14), and the microwaves reflected on the workpiece (14) are received by at least one receiver arranged on the welding head, and the received microwaves are evaluated by an evaluation module for determining the position of an edge (26) of the workpiece (14); the evaluated measuring signal is transferred from the evaluation module to a model calculation module; and a stored model containing a plurality of defined parameters is activated by the model calculation module, said model being selected by means of seam geometry entered by an input and/or output device (18), and the calculated model is compared to the evaluated measuring signal by modifying pre-defined parameters until a defined congruence is available. | ||||||
| 70 | APPARATUS AND METHOD FOR RAPID DETECTION OF OBJECTS WITH TIME DOMAIN IMPULSIVE SIGNALS | EP04785729.7 | 2004-03-12 | EP1601990B1 | 2008-12-10 | MCLEMORE, Donald P., c/o ITT AES |
| 71 | APPARATUS AND METHOD FOR RAPID DETECTION OF OBJECTS WITH TIME DOMAIN IMPULSIVE SIGNALS | EP04785729.7 | 2004-03-12 | EP1601990A2 | 2005-12-07 | MCLEMORE, Donald P.,c/o ITT AES |
| A method and system are disclosed for detecting objects of interest in a target area using ultra wide band (UWB) RF signals. A transmitter and antenna array generate ultra wide band RF impulsive signals that are used to probe a target area that may include an object of interest. An antenna and a signal processor receive return signals from the target area and process the return signal to generate a set of coordinates. The coordinates of the processed return signals are compared to coordinates of known objects in a pre-existing database to determine whether there is a match between the return signal and a known object. When there is an indication of a match, the existence of the known object is displayed to an operator of the system. | ||||||
| 72 | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges | EP98119032.5 | 1998-10-08 | EP0913751B1 | 2003-09-03 | Bergholz, Ralf, Dr.; Weisser, Hubert, Dr.; Timm, Klaus, Prof. Dr.-Ing. |
| 73 | Verfahren zur Erstellung einer Umgebungskarte und zur Bestimmung einer Eigenposition in der Umgebung durch eine selbstbewegliche Einheit | EP94110598.3 | 1994-07-07 | EP0635773B1 | 1999-09-29 | Rencken, Wolfgang, Dr. |
| 74 | Autonomes Fahrzeug und Verfahren zur Steuerung eines autonomen Fahrzeuges | EP98119032.5 | 1998-10-08 | EP0913751A1 | 1999-05-06 | Bergholz, Ralf, Dr.; Weisser, Hubert, Dr.; Timm, Klaus, Prof. Dr.-Ing. |
Die Erfindung betrifft ein autonomes Fahrzeug und ein Verfahren zur Steuerung eines autonomen Fahrzeugs, umfassend eine Eingabeeinheit (29) für einen oder mehrere Fahraufträge, eine Einrichtung (32) zur Routenplanung, umfassend mindestens eine Positionserkennungseinrichtung und eine digitale Straßenkarte (33), eine Einrichtung (34) zur Generierung eines Weges, eine Anordnung von Sensoren (1 - 20), umfassend jeweils mindestens einen Abstandssensor (2) zur Erfassung von Objekten und Beschaffenheitsmerkmalen des Weges, eine Kollisionsvermeidungseinrichtung (26), eine Einrichtung (38) zur Zustandsdatenerkennung des Fahrzeuges, eine Fahrzeugkontolleinrichtung (35) und eine Einrichtung (39) zur Steuerung der Fahrzeugaktorik (21 - 24) in Abhängigkeit von der Fahrzeugkontrolleinrichtung (35) erzeugter Signale, wobei die Anordnung von Sensoren (1 - 20) mindestens folgende Sensoren umfaßt: zwei im wesentlichen horizontal ausgerichtete, im vorderen Bereich des Fahrzeugs angeordnete Abstandssensoren (2, 3), mindestens einen im vorderen Bereich des Fahrzeugs angeordneten Abstandssensor (1), mindestens einen im hinteren Bereich des Fahrzeugs angeordneten Abstandssensor (4), mindestens einen auf dem Dach des Fahrzeugs angeordneten, auf die Fahrbahn gerichteten Abstandssensors (5a, b), dessen Abtastwinkel nachführbar ist, an den jeweiligen Seiten des Fahrzeugs angeordnete Ultraschallsensoren oder Mikrowellen-Radarsensoren (7a - d, 8a - d) und mindestens jeweils eine im vorderen und hinteren Bereich des Fahrzeugs angeordnete Kamera (9, 10, 13). |
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| 75 | ROBOTIC ARM FOR ACCURATE POSITIONING IN THREE-DIMENSIONAL SPACE, MEASUREMENT OF THREE-DIMENSIONAL COORDINATES, AND REMOTE TOOLING OPERATIONS IN THREE-DIMENSIONAL SPACE | PCT/US2008088394 | 2008-12-29 | WO2009086495A2 | 2009-07-09 | STATHIS SAM |
| CMM (coordinate measurement) functions are incorporated into robotic devices used a construction site system. The construction site system is capable of determining the absolute position of any physical point in three- dimensional space upon which the moving robot is to operate, that position is determined globally relative to monuments with known positions. A CMM determines the position of a point in three-dimensional space locally relative to itself. Combining the CMM functions with the global position determination functions improves the accuracy and precision of point location. The device disclosed in the Present Application comprises a motorized robotic arm having a plurality of moveable joints that give the arm the ability to reach out and touch any point in three-dimensional space within its reach. Attached to the robotic arm is a probe with a stylus having a sensor that will measure the coordinates of the point relative to itself. Coordinate information is then transmitted wirelessly to a control station. The device also transmits its absolute position wirelessly to a control station. Several different devices may be attached to the stylus. Coordinate measurement is only one function that can be performed. One device of significance would be an electronic distance measurement unit. This would enable the robot arm to be used either as a laser pointer and a distance measurement unit or as a total station. The arm can also be detected and seen by other robots and monuments on the site, and these other devices transmit the position of the Present Invention to the control station. The device has a locator device (such as a passive corner cube prism or an active wireless beacon) that can be seen by the other devices at the site. | ||||||
| 76 | APPARATUS AND METHOD FOR RAPID DETECTION OF OBJECTS WITH TIME DOMAIN IMPULSIVE SIGNALS | PCT/US2004007515 | 2004-03-12 | WO2005001513A2 | 2005-01-06 | MCLEMORE DONALD P |
| A method and system are disclosed for detecting objects of interest in a target area using ultra wide band (UWB) RF signals. A transmitter and antenna array generate ultra wide band RF impulsive signals that are used to probe a target area that may include an object of interest. An antenna and a signal processor receive return signals from the target area and process the return signal to generate a set of coordinates. The coordinates of the processed return signals are compared to coordinates of known objects in a pre-existing database to determine whether there is a match between the return signal and a known object. When there is an indication of a match, the existence of the known object is displayed to an operator of the system. | ||||||
| 77 | 압력 센서 및 전자기파 신호 발생 노드 어레이를 통한 3차원 수중 위치 추정 방법 | KR1020160095746 | 2016-07-27 | KR1020180012643A | 2018-02-06 | 김진현; 곽경민; 정완균; 박대길 |
| 본발명은압력센서및 전자기파신호발생노드어레이를통한 3차원수중위치추정방법을공개한다. 이방법은 (a) 신호발생기가복수개의레이어각각의모서리에위치한복수개의고정노드에소정의세기의전자기파신호를방사하는단계; (b) 상기복수개의고정노드가소정의할당된주파수들에서전자기파신호를연속적으로송신하는단계; (c) 이동노드가원격작동차량의하부면에설치되고상기복수개의고정노드사이에위치하여, 상기송신된전자기파신호를수신하는단계; (d) 상기수신된신호의신호감쇠데이터가측정되어상기이동노드의평면위치가추정되는단계; (e) 압력센서가상기이동노드에부착되어상기이동노드의수압을감지하여상기복수개의레이어중 최상의레이어로부터상기이동노드까지의깊이데이터를출력하는단계; (f) 신호분석기가케이블을통해상기이동노드에연결되어상기평면위치및 상기깊이데이터를이용하여상기이동노드의위치를레이어별로지역화하는단계; 및 (g) 상기레이어별로지역화된이동노드의위치를통해상기원격작동차량의 3차원수중위치가추정되는단계;를포함하는것을특징으로한다. | ||||||
| 78 | 초광대역 임펄스 레이다 신호를 이용한 마이크로 로봇 위치 인식 방법 및 그에 따른 인식 장치 | KR1020150036864 | 2015-03-17 | KR1020160111771A | 2016-09-27 | 유홍연; 김낙우; 윤심권; 이병탁; 김영선 |
| 마이크로로봇위치인식장치가개시된다. 그러한장치는, 마이크로로봇으로방출된초광대역임펄스레이다신호의반사신호를마이크로로봇제어파라미터를이용하여필터링함에의해, 외부전자기장제어를통해상기마이크로로봇이구동될때 발생되는고유발진주파수신호를마이크로로봇신호로서추출하고, 상기초광대역임펄스레이다신호의송수신파라미터에근거하여상기마이크로로봇신호를분석함에의해상기마이크로로봇의위치정보를산출하는마이크로로봇위치인식부를포함한다. 또한, 상기장치는상기마이크로로봇의위치정보를수신하고미리저장된기준영상데이터및 상기영상데이터에근거하여상기수신된위치정보에대한위치보정을수행하는영상정합부를더 포함할수 있다. | ||||||
| 79 | 자율 이동체 | KR1020167016802 | 2014-11-24 | KR1020160090350A | 2016-07-29 | 다이라데츠야 |
| 자율이동체는, 노면상의자율이동체의이동방향에위치되는제1 및제2 위치까지의거리를검출하도록구성되는적어도 1개의거리센서; 및적어도 1개의거리센서에의해검출된제1 위치까지의거리값이제1 임계치를초과했을때의시간과제2 위치까지의거리값이제2 임계치를초과했을때의시간과의사이의차분시간과, 자율이동체가제1 및제2 위치사이에서이동하는이동시간과의사이의차분시간을산출하며, 산출된차분시간이미리결정된값 이상일때만거리센서가이상이있는것으로판정하도록구성되는판정유닛을포함한다. | ||||||
| 80 | 시간 도메인 임펄스 신호들을 사용하여 물체를 고속검출하기 위한 방법 및 장치 | KR1020057016611 | 2004-03-12 | KR101017463B1 | 2011-02-25 | 맥레모레,도날드,피. |
| UWB RF 신호들을 사용하여 타겟 영역에서 관심 물체들을 검출하기 위한 방법 및 시스템이 개시된다. 송신기 및 안테나 어레이는 관심 물체를 포함할 수 있는 타겟 영역을 검사하는데 사용되는 UWB RF 임펄스 신호들을 생성한다. 안테나 및 신호 처리기는 타겟 영역으로부터의 회답 신호들을 수신하고 회답 신호를 처리하여 좌표들의 세트를 생성한다. 처리된 회답 신호들의 좌표들은 기존의 데이터베이스 내의 공지된 물체들의 좌표들과 비교되어 회답 신호와 공지된 물체 사이의 일치가 있는지를 결정한다. 일치의 표시가 있으면, 공지된 물체의 존재가 시스템의 오퍼레이터에 표시된다. 관심 물체, 임펄스 신호, 회답 신호, 타겟 영역, UWB RF 신호 | ||||||
