Abstract: A piezoelectric system has a piezoelectric motor (20) driving a driven element (22) so as to move the driven element (822) in response to an electric signal (25). The motor (20) has at least a first optimal operating frequency at which the motor (20) moves the driven element (22) an amount that meets predetermined criteria. The motor (20) and driven element (22) have a desired performance criteria when operated at that first operating frequency. A plurality of concatenated sinusoidal sweeping frequencies are repeatedly supplied to the piezoelectric motor (20) with at least one of the sweeping frequencies being sufficiently close to the first operating frequency to cause detectable motion of the driven element (22). The frequencies are varied in response to movement of at least one of the motor (20) and the driven element (22) to produce an average performance of the motor (20) and driven element (22) for a time corresponding to the time for one sweep of frequencies.

Abstract: In an arrangement and method for determining a spatial position of an object on a thermal basis, an imaging thermal sensor detects a thermal image of the environment and outputs corresponding signals to a processing unit coupled to the sensor. The processing unit accepts the signals, evaluates the image in view of a thermal marking, and determines the spatial position of the object dependent on the marking. The arrangement and the method can be employed in combination with a robot for orientation and for travel path control of the robot.

Abstract: Arrangements and methods for determining a relative position of two objects with respect to one another are presented wherein a radiation source generates a characteristic radiation field and a receiver measures radiation quantities of the radiation. The receiver transmits signals that are dependent on the measured radiation quantities in the characteristic radiation field to the evaluation unit, which determines the relative position of the objects with respect to one another dependent on the signals received from the receiver. Due to a connection of the two objects of the arrangement with an elastic connection having a predetermined stiffness, the evaluation unit determines the force acting between the objects and/or the moment acting between the objects from a relative positional change of the two objects with respect to one another dependent on the stiffness of the connections.

Abstract: A system and a method for positioning an autonomous mobile unit for docking, wherein a slot-shaped light beam which stands perpendicular to the drive surface of the unit is provided, which beam is emitted by a docking device, and position-sensitive detectors for this light beam are present on the unit, these being arranged parallel to the drive surface of the unit. With the aid of the light beam and of the detectors, the precise rotation (beta) of the unit relative to the docking device can be determined, whereby the unit learns its approximate configuration in space by means of ultrasound or odometry measurements. With this guidance, the unit can dock very precisely at a docking device in order to be able to take on goods or to drive into a garage, for example. Position-sensitive detectors, or photodiodes are provided as receptors for the light beam. The present invention preferably can be used in household robots or in industrial cleaning robots.

Abstract: An apparatus for disconnecting an electrical load from an input DC voltage includes first and second lines which carry the input DC voltage to the electrical load. A fuse is connected in series in the first line. The switching contact of a first relay is connected in series in the first line and is opened for a disconnection process. The switching contact of a second relay is connected in parallel between the first and the second line downstream of the first relay and, when a disconnection process takes place, is closed once the first relay has been opened. The apparatus has a high availability despite the use of commercially available relays.

Abstract: An apparatus for disconnecting an electrical load from an input DC voltage includes first and second lines which carry the input DC voltage to the electrical load. A fuse is connected in series in the first line. The switching contact of a first relay is connected in series in the first line and is opened for a disconnection process. The switching contact of a second relay is connected in parallel between the first and the second line downstream of the first relay and, when a disconnection process takes place, is closed once the first relay has been opened. The apparatus has a high availability despite the use of commercially available relays.