Abstract: The invention relates to a tool location system for a handheld tool in a manufacturing environment, wherein the tool is equipped with a camera for capturing images. According to the invention, the location system comprises numerical evaluator means, which is built to determine a tool-location of the tool by a simultaneous location and mapping (SLAM) navigation calculation based on the images from the camera. Therein the tool-location is determined with respect to a global coordinate system in relation to the manufacturing environment from portions of the images which comprise a view of the manufacturing environment and the tool-location is determined with respect to a local coordinate system in relation to the workpiece from portions of the images which comprise a view of the workpiece.

Abstract: A coordinate measuring machine CMM and a method for gauging a target object by means of said CMM. The CMM comprises a Delta Robot as a support structure having an end effector movable within a motion zone, a tool-holder fixed to the end effector configured to accommodate various measurement probes and especially a camera, wherein the camera comprising an optics having a field of view encompassing maximum 20% of a motion zone of the end effector. Further it comprises a control unit controlling the motion of the end effector within the motion zone and the motion of the measurement probe over a target object in an “on the fly”-mode. Further it comprises an analysing unit for processing electronic signals and/or data delivered by the measurement probe. The analysing unit comprises especially storage means for storing said images and comprising a circuit unit for processing said images.

Abstract: A method and system for determining the position of a hand-held power tool on a wall including measuring distances within a plane perpendicular to a tooling axis in at least two directions, comprising at least the direction to one side wall and the direction to the floor or the ceiling. At least one non-contact measurement sensor module measures distances in a multitude of angles in an angular range of at least 1° around the at least two directions. From the distance sequence measured by the at least one measurement sensor module a calculation and storing unit automatically calculates a function, wherein extrema represent shortest distances to walls, floor and/or ceiling adjacent to the wall. From said function the calculation and storing unit deduces the shortest distances, and output means provide information about the shortest distances so as to allow positioning relative to the shortest distances.

Abstract: Methods and apparatus for guiding a mobile transportation means of a set of transportation means to a selected reconditioning station of a set of reconditioning stations, comprising determining a position of the battery, determining a condition of the battery, forecasting a consumption characteristic of the transportation means, evaluating an achievable range of mobility of the transportation means, assigning the selected reconditioning station of the set of reconditioning stations, which is located within the range of mobility of the transportation means along a path to a desired target and guiding the transportation means to the selected reconditioning station, an optimization of the assignment and/or the path is executed by a search algorithm for assigning the set of transportation means to the set of reconditioning stations and batteries, based on actual and/or forecasted information about multiple entities of the sets of transportation means, stations and batteries as well as their conditions.

Abstract: The invention pertains to a method for determining at least one spatial coordinate of a measurement point of a local structure of an object, providing a mobile coordinate measuring machine, the method comprising at least placing the mobile coordinate measuring machine on a surface of the object to be measured, approaching the measurement point with a sensing head, and determining at least one spatial coordinate of the at least one measurement point, characterized by establishing a defined spatial relation between the coordinate measuring machine and the local structure wherein the defined spatial relation is established by means of a mechanical fixation of the coordinate measuring machine to the object, and/or a continuous determination of position and orientation of the coordinate measuring machine relative to the object. The invention furthermore pertains to a mobile coordinate measuring machine and a computer program product for execution of said method.

Abstract: A coordinate measurement machine with a first frame element, a second frame element, a linear drive unit with a motor for moving the second frame element relative to the first frame element and a position measurement instrument, for determining a drive position of the second frame element relative to the first frame element. The drive unit has limited stiffness and dynamic deflections on movement. The machine comprises a mechanical coupler from the drive unit to the second frame element, which coupler comprises a first part fixed to the drive unit and a second part fixed to the second frame element, which parts are movable relative to each other by an active compensation actuator. The active compensation actuator is built in such a way to shift the second frame element against the drive unit to introduce a counter-displacement in such a way that the dynamic deflections are at least partially compensated.

Abstract: Method for building up an object (25) by means of a coordinate measuring machine (10), wherein the coordinate measuring machine (10) has at least one control unit and one drive unit for the controlled movement of an instrument carrier (19) in relation to a base (12) and the instrument carrier (19) is implemented for carrying at least one measuring sensor and production tool (21a-b), which are each modularly attachable in particular, both alone in each case or in combination.

Abstract: Some embodiments described herein include a method for generating scaled terrain information with an unmanned autonomous gardening vehicle. In some embodiments the gardening vehicle includes a driving unit comprising a set of at least one drive wheel and a motor connected to the at least one drive wheel for providing movability of the gardening vehicle, a gardening-tool and a camera for capturing images of a terrain, the camera being positioned and aligned in known manner relative to the gardening vehicle. In context of the method the gardening vehicle is moved in the terrain while concurrently generating a set of image data by capturing an image series of terrain sections so that at least two (successive) images of the image series cover an amount of identical points in the terrain, wherein the terrain sections are defined by a viewing area of the camera at respective positions of the camera while moving.

Abstract: Some embodiments described herein relate to a measuring system for automated measurement of an object and detection of differences between features of the object and CAD data of the object. The measuring system may include a measuring device having a distance meter for measuring a position of at least one remote target point, a local computer terminal that is connected to or part of the measuring system, an assigned memory unit for storing the data base comprising the CAD data and an assigned set of measurement software program for controlling the measuring system. In some embodiments, the stored CAD data of the object comprise typical dimensions and tolerances of the features of the object and the assigned set of measurement software programs for controlling the measuring system comprises an optimization algorithm for the measurement of each feature.

Abstract: The invention relates to an articulated arm CMM, which is constructed in a modular way, and a modular assembling kit for constructing such an articulated arm CMM, comprising an articulated arm having a first end and a second end, wherein the second end is configured to support a tool. The articulated arm comprises at least two arm sections, connected to one another by pivot joints with integrated angle encoders. The arm sections are configured as modules having a PCB unit, said PCB unit comprises an elongated PCB section element and at least one PCB encoder element. The PCB encoder elements are configured to build an angle encoder and the PCB section elements comprise electronic transmission means for transmitting the encoder signals from the PCB encoder elements toward a circuit deriving the relative position between the arm sections.

Abstract: Noncontact coordinate measurement. With a 3D image recording unit, a first three-dimensional image of a first area section of the object surface is electronically recorded in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated. First 3D image coordinates in an image coordinate system are coordinated with the first pixels. The first position and first orientation of the 3D image recording unit in the object coordinate system are determined by a measuring apparatus coupled to the object coordinate system by means of an optical reference stereocamera measuring system. First 3D object coordinates in the object coordinate system are coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit.

Abstract: Embodiments described herein include a surveying apparatus for surveying a measurement scenery. The surveying apparatus may include a base defining a vertical axis; a support tiltable around the vertical axis; a telescope unit tiltable around the vertical axis and around a horizontal axis that is orthogonal to the vertical axis and comprises means for distance measurement; motor means for rotational driving of the support and the telescope unit; and angle determination means for detecting an orientation of the telescope unit with respect to the base. In some embodiments, the telescope unit comprises a first camera capable to take a visible image of the measurement scenery and/or means for capturing coordinates of 3D-points of the measurement scenery. In some embodiments, the surveying apparatus comprises a display capable to display at least a portion of the visible image taken by the first camera and/or at least a portion of the 3D-points.

Abstract: A coordinate measuring machine (1) for determining at least one spatial coordinate of a measurement point of an object (15) to be measured, comprising a base (5) and a drive mechanism, adapted to drive a probe head (13) in a manner such that the probe head (13) is capable to move relative to the base (5) for approaching a measurement point, characterised by a first range camera (3, 33) having a range image sensor with a sensor array, wherein the range camera (3, 33) is adapted to be directed to the object (15) for providing a range image (23) of the object (15), and wherein range pixels of the range image are used for creating a point cloud with 3D-positions of target points of the object (15), and a controller, adapted to control the drive mechanism on the basis of 3D-positions of the target points.

Abstract: Some embodiments of the invention relate to a method for measuring an angle between two spatially separated elements having the steps: preparing a multiplex hologram having a plurality of interference patterns, at least two having different angles of incidence of an object light wave onto a hologram plane; arranging the multiplex hologram in a first element plane on a first element; lighting the multiplex hologram with a reference light wave; arranging a light detector in a second element plane on a second element; detecting a reference light wave refracted on an interference pattern with a light detector; creating an intensity pattern from the detected refracted reference light wave; assigning the angle of incidence stored as machine readable data to the intensity pattern; and/or calculating an angle between the first element plane and the second element plane from the assigned angle of incidence.

Abstract: A graphical application system, with a surface spattering device, with at least one nozzle for expelling a spattering material onto a target surface, a nozzle control mechanism controls expelling of the nozzle. A spatial referencing unit references the spattering device in space and a computation means automatically controls the nozzle according to information from the spatial referencing unit and according to predefined desired spattering data as a digital image or a CAD-model of a desired pattern to be spattered onto the target surface. A communication means for establishing a communication link from the spatial referencing unit to the computation means to supply the position and orientation to the computation means. The spatial referencing unit is located remote from the spattering device and comprises at least two optical 2D cameras arranged with a stereobasis, for determining the position and orientation of images taken by the cameras.

Abstract: The invention relates to a method for determining 3D coordinates of an object (2) by a handheld laser-based distance measuring device (1), the method comprising determining an object point (20) at the object (2); measuring a distance (100) from the handheld laser-based distance measuring device (1) to the determined object point (20) by means of an EDM (10); capturing a 3D image (110) of the object (2), the 3D image (110) includes the determined object point (20); identifying the determined object point (20) in the captured 3D image (110); and linking the measured distance (100) with the identified object point (20) in the 3D image (110). The invention also relates to a handheld laser-based distance measuring device (1) and a computer program product for execution of said method.

Abstract: A method for a six degree of freedom position and orientation determination of a known shape in a scenery is disclosed. The method includes taking a range image with a range imaging camera and a visual picture with a digital camera. The range imaging camera includes a sensor array with a first number of pixels. Determining a 3D cluster of points from range information collected from the sensor array to a point of the scenery. The digital camera comprises an image sensor having a second number of pixels, resulting in a 2D picture. A stored 3D digital representation of the known shape may be fitted in a virtual space to match the reproduction of the known object in the 2D picture and the 3D cluster of points and determining the six degree of freedom position and orientation of the known shape according to the virtual match.

Abstract: The invention relates to a graphical application system to apply a desired pattern by multiple tiles onto a target surface. The system comprises a graphical application device comprising a base structure with a trackable optical feature, at least one nozzle for expelling paint, a driving unit for positioning the nozzle and a local camera for a local referencing of the nozzle. A controller controls the driving unit and the expelling of the nozzle to achieve an application of the desired pattern on the target surface. The system also comprises an external referencing device located remote from the graphical application device, for a global referencing of the application device according to the trackable optical feature. The desired pattern is applied with a primary alignment of the application range by the global referencing and with a fine-alignment of the actual tile to a previously applied tile according to the local referencing.

Abstract: 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.

Abstract: The invention concerns a handheld, dynamically movable surface spattering device (9), comprising at least one nozzle means (1) for an expelling of a spattering material onto a target surface (3) and a nozzle control mechanism (4) to control characteristics of the expelling of the nozzle means. Furthermore, it comprises a spattering material supply (5), a storage with desired spattering data (6), which is predefined and comprised in a digital image or CAD-model memorized on the storage, a spatial referencing unit (7), to reference the spattering device relative to the target surface and a computation means (8) to automatically control the expelling by the nozzle control mechanism according to information gained by the spatial referencing unit and according to the desired spattering data is evaluated and adjusted by changing the characteristics of expelling of the nozzle means in such a way that the target surface is spattered according to the desired spattering data.