Granted Patent B2

US 12,571,916 · App. 17/763,081 · Granted Mar 10, 2026

Inventors: Sascha Korl (Buchs, CH); Abel Gawel (Greifensee, CH); Hermann Blum (Zurich, CH); Timothy Sandy (Zurich, CH); Marco Hutter (Flawil, CH); Roland Siegwart (Schwyz, CH)

Assignee: Hilti Aktiengesellschaft

G01S17/88B25J9/1692

Abstract

Claims (27)

1 . A method for setting a position and/or an orientation of a device head ( 10 ) in a measuring environment ( 11 ), comprising the steps of:

determining the position and/or the orientation of the device head ( 10 ) by an on-board sensor device ( 14 );

transmitting the determined position and/or the orientation of the device head ( 10 ) to a control device ( 17 ), wherein the control device ( 17 ) is communicatively coupled to the on-board sensor device ( 14 ) and a distance measuring device ( 16 ) comprising M≥1 distance measuring sensors ( 18 );

carrying out the following sequence as at least a first sequence:

a first step in which the device head ( 10 ) is arranged in a measuring position (MP 1 , MP 2 , MP 3 ) in the measuring environment ( 11 ) with pose data being determined for the measuring position (MP 1 , MP 2 , MP 3 ),

a second step in which the distance measuring sensors ( 18 ) carry out a distance measurement measuring distance values (d m_ j 1 , d m_ j 2 , d m_ j 3 ) to respective boundary surfaces and transmit respective measured distance values (d m_ j 1 , d m_ j 2 , d m_ j 3 ) to the control device ( 17 ),

a third step in which a geometry model ( 21 ) of the measuring environment ( 11 ) stored in the control device ( 17 ) and the pose data for the measuring position (MP 1 , MP 2 , MP 3 ) are used to determine for the measured distance values (d m_ j 1 , d m_ j 2 , d m_ j 3 ) corresponding estimated distance values (d e_ j 1 , d e_ j 2 , d e_ j 3 ),

a fourth step in which deviations (Δ j1 , Δ j2 , Δ j3 ) between the measured distance values (d m_ j 1 , d m_ j 2 , d m_ j 3 ) and the corresponding estimated distance values (d e_ j 1 , d e_ j 2 , d e_ j 3 ) are calculated and stored as error values (Δ j1 , Δ j2 , Δ j3 ), and

a fifth step in which a number (A) of error values is compared with a minimum number (A min );

in response to the number (A) of error values being less than the minimum number (A min ):

moving the device head ( 10 ) from the measuring position (MP 1 , MP 2 ) into a new measuring position (MP 2 , MP 3 ), and

carrying out the sequence for the new measuring position (MP 2 , MP 3 ); and

in response to the number (A) of error values being greater than or equal to the minimum number (A min ):

using the error values (Δ j1 , Δ j2 , Δ j3 ) to carry out an error minimization for the position and/or the orientation of the device head ( 10 ), and

setting the position and/or orientation of the device head ( 10 ) determined by the on-board sensor device ( 14 ) more precisely by the control device ( 17 ).

2 . The method as claimed in claim 1 , wherein the first sequence is carried out in a first measuring position (MP 1 ), wherein the first measuring position (MP 1 ) corresponds to the position and/or the orientation of the device head ( 10 ) that is determined by the on-board sensor device ( 14 ), and wherein the position and/or the orientation of the device head ( 10 ) that is determined by the on-board sensor device ( 14 ) is used as the first pose data for the first sequence.

3 . The method as claimed in claim 1 , wherein the sequence is carried out twice in a first measuring position (MP 1 ) and a second measuring position (MP 2 ), wherein the first measuring position (MP 1 ) 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 (MP 2 ) is different from the first measuring position (MP 1 ), and wherein a movement of the device head ( 10 ) from the first measuring position (MP 1 ) into the second measuring position (MP 2 ) is recorded by a further on-board sensor device ( 19 ) in a form of first movement data.

4 . The method as claimed in claim 3 , wherein the second pose data for the second measuring position (MP 2 ) are determined from the first pose data of the first measuring position (MP 1 ) and the first movement data.

5 . The method as claimed in claim 3 , wherein the second pose data for the second measuring position (MP 2 ) are determined from optimized first pose data and the first movement data and wherein the optimized first pose data is determined from the position and/or the orientation of the device head ( 10 ) that is determined by the on-board sensor device ( 14 ) by error minimization by the error values (Δ j1 ).

6 . The method as claimed in claim 1 , wherein the sequence is carried out at least three times with movement of the device head ( 10 ) from one measuring position (MP 1 , MP 2 ) into a new measuring position (MP 2 , MP 3 ) being recorded by a further on-board sensor device ( 19 ) in a form of movement data.

7 . The method as claimed in claim 6 , wherein pose data for the new measuring position (MP 2 , MP 3 ) are determined from first pose data of the first measuring position (MP 1 ) and the movement data.

8 . The method as claimed in claim 6 , wherein the pose data for the new measuring position (MP 2 , MP 3 ) are determined from optimized first pose data and the movement data, wherein the optimized first pose data is determined from the position and/or the orientation of the device head ( 10 ) that is determined by the on-board sensor device ( 14 ) by error minimization by the error values (Δ j1 , Δ j2 ) of the sequences of the first to fifth steps carried out.

9 . The method as claimed in claim 1 , wherein, where the number (A) of error values is greater than or equal to the minimum number (A min ), an error measure (δ) is determined within the error minimization.

10 . The method as claimed in claim 9 , wherein the error measure (δ) is compared with a maximum error (δ max ), wherein, where the error measure (δ) is greater than the maximum error (δ max ), the device head ( 10 ) is moved into a new measuring position (MP 4 ) and the sequence of the first to fifth steps is carried out for the new measuring position (MP 4 ).

11 . An apparatus ( 15 ) for setting more precisely a position and/or an orientation of a device head ( 10 ) which performs the method as claimed in claim 1 .

12 . The apparatus as claimed in claim 11 , wherein the apparatus ( 15 ) has a control device ( 17 ) communicatively connected to an on-board sensor device ( 14 ) comprising M≥1 distance measuring sensors ( 18 ), and wherein the distance measuring device ( 16 ) and the on-board sensor device ( 14 ) are connected to the device head ( 10 ).

13 . The apparatus as claimed in claim 12 , wherein the apparatus ( 15 ) has a further on-board sensor device ( 19 ) attached to the device head ( 10 ) and communicatively connected to the control device ( 17 ).

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (11)