US 12,226,867 B2
Method for setting more precisely a position and/or orientation of a device head
Sascha Korl, Buchs (CH); Abel Gawel, Greifensee (CH); Hermann Blum, Zurich (CH); Timothy Sandy, Zurich (CH); Marco Hutter, Flawil (CH); and Roland Siegwart, Schwyz (CH)
Assigned to Hilti Aktiengesellschaft, Schaan (LI)
Appl. No. 17/763,047
Filed by Hilti Aktiengesellschaft, Schaan (LI)
PCT Filed Sep. 23, 2020, PCT No. PCT/EP2020/076575
§ 371(c)(1), (2) Date Mar. 23, 2022,
PCT Pub. No. WO2021/058569, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 19199080 (EP), filed on Sep. 24, 2019.
Prior Publication US 2022/0410329 A1, Dec. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B23Q 15/12 (2006.01)
CPC B23Q 15/12 (2013.01) 11 Claims
OG exemplary drawing
 
1. A method for setting more precisely a position and/or an orientation of a device head (10) in a measuring environment (11) by a distance measuring device (16) which comprises a number of M, M≥1, distance measuring sensors (18) and which is connected to the device head (10), and a control device (17) which is communicatively connected to the distance measuring device (16) and an on-board sensor device (14), comprising the steps of:
determining the position and/or the orientation of the device head (10) by the on-board sensor device (14) and transmitting the position and/or the orientation of the device head (10) determined by the on-board sensor device (14) to the control device (17);
a sequence of a first step, a second step, a third step, and a fourth step which is carried out N times, N≥1, wherein:
in the first step of the sequence, the device head (10) is arranged in a measuring position (MP1, MP2, MP3) in the measuring environment (11) with pose data being determined for the measuring position (MP1, MP2, MP3);
in the second step of the sequence, the distance measuring sensors (18) carry out a distance measurement and transmit respective measured distance values (dm_j1, dm_j2, dm_j3) to the control device (17);
in the third step of the sequence, a geometry model (21) of the measuring environment (11) stored in the control device (17) and the pose data for the measuring position (MP1, MP2, MP3) are used to determine for the measured distance values (dm_j1, dm_j2, dm_j3) corresponding estimated distance values (de_j1, de_j2, de_j3); and
in the fourth step of the sequence, deviations (Δj1, Δj2, Δj3) between the measured distance values (dm_j1, dm_j2, dm_j3) and the corresponding estimated distance values (de_j1, de_j2, de_j3) are calculated and stored as error values (Δj1, Δj2, Δj3); and
after a Nth sequence of the first to fourth steps, the error values (Δj1, Δj2, Δj3) are used to carry out an error minimization for the position and/or the orientation of the device head (10) and the position and/or the orientation of the device head (10) determined by the on-board sensor device (14) is set more precisely by the control device (17);
wherein the sequence of the first to fourth steps is carried out twice in a first measuring position (MP1) and a second measuring position (MP2), wherein the first measuring position (MP1) corresponds to the position and/or the orientation of the device head (10) that is determined by the on-board sensor device (14), wherein the second measuring position (MP2) is different from the first measuring position (MP1), and wherein a movement of the device head (10) from the first measuring position (MP1) into the second measuring position (MP2) is recorded by a further on-board sensor device (19) in a form of first movement data.