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    • 3. 发明申请
    • GLOBAL COORDINATE CREATION METHOD FOR PRECISION MEASUREMENT OF HOLLOW FRAME
    • 用于中空框架精密测量的全局坐标创建方法
    • US20090273512A1
    • 2009-11-05
    • US12442331
    • 2007-09-21
    • Seong-Youb ChungSung-Han KimSe-Hwan SongYoung-Jun ParkJae-Hoon Kim
    • Seong-Youb ChungSung-Han KimSe-Hwan SongYoung-Jun ParkJae-Hoon Kim
    • G01S5/14
    • G01S19/11G01C15/00
    • A method of creating a global coordinate of a polyhedral hollow frame includes a first step of providing a plurality of transmitters on a reference surface in the hollow frame, providing a plurality of reference sensors to create the coordinate of the reference surface, and creating a local coordinate frame of the reference surface on the basis of the positional coordinates measured by the reference sensors; a second step of providing reference sensors at common points of a first vertical surface neighboring to the reference surface to measure and store the coordinates of the common points; a third step of providing a plurality of transmitters and reference sensors on the first vertical surface neighboring to the reference surface to create a local coordinate frame of the first vertical surface; a fourth step of transforming the local coordinate frames created at the first and the third steps into a global coordinate frame using the coordinates of the common points measured at the second step; a fifth step of repeatedly performing the second step to the fourth step on remaining vertical surfaces of the polyhedral hollow frame to transform the respective local coordinate frames into a unified global coordinate frame; a sixth step of providing transmitters on an upper surface neighboring to each vertical surface to obtain the relationship between the global coordinate frame and a local coordinate frame of the upper surface using the coordinates of the common point; and a seventh step of creating and applying a global coordinate frame using the relationship obtained at the sixth step.
    • 创建多面体中空框架的全局坐标的方法包括:第一步骤,在中空框架的参考表面上提供多个发射器,提供多个参考传感器以产生参考表面的坐标,以及创建局部 基于由参考传感器测量的位置坐标,参考表面的坐标系; 在与参考表面相邻的第一垂直表面的公共点处提供参考传感器以测量和存储公共点的坐标的第二步骤; 第三步骤,在与参考表面相邻的第一垂直表面上设置多个发射器和参考传感器,以产生第一垂直表面的局部坐标系; 使用在第二步骤测量的公共点的坐标将在第一和第三步骤中创建的局部坐标系变换为全局坐标系的第四步骤; 在所述多面体中空框架的剩余垂直表面上反复进行第二步骤至第四步骤的第五步骤,以将各个局部坐标系变换为统一的全局坐标系; 在与每个垂直表面相邻的上表面上提供发射器以使用公共点的坐标获得全局坐标系和上表面的局部坐标系之间的关系的第六步骤; 以及使用在第六步骤中获得的关系创建和应用全局坐标系的第七步骤。
    • 4. 发明授权
    • Global coordinate creation method for precision measurement of hollow frame
    • 中空框架精密测量全局坐标创建方法
    • US07893874B2
    • 2011-02-22
    • US12442331
    • 2007-09-21
    • Seong-Youb ChungSung-Han KimSe-Hwan SongYoung-Jun ParkJae-Hoon Kim
    • Seong-Youb ChungSung-Han KimSe-Hwan SongYoung-Jun ParkJae-Hoon Kim
    • G01S3/02
    • G01S19/11G01C15/00
    • A method of creating a global coordinate of a polyhedral hollow frame includes a first step of providing a plurality of transmitters on a reference surface in the hollow frame, providing a plurality of reference sensors to create the coordinate of the reference surface, and creating a local coordinate frame of the reference surface on the basis of the positional coordinates measured by the reference sensors; a second step of providing reference sensors at common points of a first vertical surface neighboring to the reference surface to measure and store the coordinates of the common points; a third step of providing a plurality of transmitters and reference sensors on the first vertical surface neighboring to the reference surface to create a local coordinate frame of the first vertical surface; a fourth step of transforming the local coordinate frames created at the first and the third steps into a global coordinate frame using the coordinates of the common points measured at the second step; a fifth step of repeatedly performing the second step to the fourth step on remaining vertical surfaces of the polyhedral hollow frame to transform the respective local coordinate frames into a unified global coordinate frame; a sixth step of providing transmitters on an upper surface neighboring to each vertical surface to obtain the relationship between the global coordinate frame and a local coordinate frame of the upper surface using the coordinates of the common point; and a seventh step of creating and applying a global coordinate frame using the relationship obtained at the sixth step.
    • 创建多面体中空框架的全局坐标的方法包括:第一步骤,在中空框架的参考表面上提供多个发射器,提供多个参考传感器以产生参考表面的坐标,以及创建局部 基于由参考传感器测量的位置坐标,参考表面的坐标系; 在与参考表面相邻的第一垂直表面的公共点处提供参考传感器以测量和存储公共点的坐标的第二步骤; 第三步骤,在与参考表面相邻的第一垂直表面上设置多个发射器和参考传感器,以产生第一垂直表面的局部坐标系; 使用在第二步骤测量的公共点的坐标将在第一和第三步骤中创建的局部坐标系变换为全局坐标系的第四步骤; 在所述多面体中空框架的剩余垂直表面上反复进行第二步骤至第四步骤的第五步骤,以将各个局部坐标系变换为统一的全局坐标系; 在与每个垂直表面相邻的上表面上提供发射器以使用公共点的坐标获得全局坐标系和上表面的局部坐标系之间的关系的第六步骤; 以及使用在第六步骤中获得的关系创建和应用全局坐标系的第七步骤。
    • 5. 发明申请
    • TENDON CONTROLLED MOBILE PLATFORM
    • TENDON控制移动平台
    • US20120043162A1
    • 2012-02-23
    • US13263231
    • 2010-04-01
    • Sang-Whee KimYun-Seo ChoiJae-Hoon KimYoung-Jun Park
    • Sang-Whee KimYun-Seo ChoiJae-Hoon KimYoung-Jun Park
    • E04G3/30B66D1/30
    • B63B9/06B25J9/0078B25J17/0266B63B25/14B66C21/00
    • The present invention discloses a tendon controlled mobile platform configured to move within a work space defined by a structure. The tendon controlled mobile platform of the present invention, which includes: a mobile platform including a main frame, a plurality of upper winches coupled to an upper part of the main frame, and a plurality of lower winches coupled to a lower part of the main framed, the mobile platform being placed with the work space; a plurality of first wires having respective one ends coupled to lower sides of the structure and respective the other ends coupled to the upper winches, the lengths of the first wires being adjustable; and a plurality of second wires having respective one ends coupled to upper sides of the structure and respective the other ends coupled to the lower winches, the lengths of the second wires being adjustable, can expand the movement range of the mobile platform, thereby expanding the work area, and can easily move the work equipment to an adjacent work area.
    • 本发明公开了一种被配置为在由结构限定的工作空间内移动的腱控制移动平台。 本发明的肌腱控制的移动平台包括:移动平台,包括主框架,耦合到主框架的上部的多个上绞车和耦合到主机的下部的多个下绞盘 框架,移动平台被放置在工作空间; 多个第一线,其相应的一端联接到所述结构的下侧,并且相应的另一端联接到所述上绞车,所述第一线的长度是可调节的; 以及多个第二导线,其相应的一端联接到所述结构的上侧,并且相应的另一端联接到所述下绞盘,所述第二线的长度可调,可以扩展所述移动平台的移动范围,从而扩展 工作区域,并可以轻松地将工作设备移动到相邻的工作区域。