WO2004040235A2 - Device for the contact-free, three-dimensional digitising of an object - Google Patents

Device for the contact-free, three-dimensional digitising of an object Download PDF

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Publication number
WO2004040235A2
WO2004040235A2 PCT/FR2003/050108 FR0350108W WO2004040235A2 WO 2004040235 A2 WO2004040235 A2 WO 2004040235A2 FR 0350108 W FR0350108 W FR 0350108W WO 2004040235 A2 WO2004040235 A2 WO 2004040235A2
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WO
WIPO (PCT)
Prior art keywords
dimensional object
object according
laser beam
scanning
contactless scanning
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PCT/FR2003/050108
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French (fr)
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WO2004040235A3 (en
Inventor
Luc Vergnaud
Fabian Lebeau
Original Assignee
Luc Vergnaud
Fabian Lebeau
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Luc Vergnaud, Fabian Lebeau filed Critical Luc Vergnaud
Priority to AU2003288382A priority Critical patent/AU2003288382A1/en
Publication of WO2004040235A2 publication Critical patent/WO2004040235A2/en
Publication of WO2004040235A3 publication Critical patent/WO2004040235A3/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Definitions

  • the present invention relates to a contactless scanning device of a 3-dimensional object.
  • a probe can be provided which is connected to sensors so as to record the displacements and to deduce therefrom, by a set of points, the volume form.
  • the object may be too complex with undercut points prohibiting the use of a probe, or the object is too fragile for a probe to be able to be moved on the surface of said object, or even the mechanical accuracy of the measurement is not compatible with the desired result.
  • the object of the present invention is a device for scanning a surface of an object in three dimensions without contact.
  • the device allows a single tool to have a 3D measurement means, autonomous, reliable and whose implementation is simple and immediate.
  • this single tool contains contactless measuring means and spatial tracking means.
  • FIG. 1 a view of a block diagram of the device according to the present invention.
  • FIG. 2 a detailed view of a block diagram of operation and processing of the information acquired.
  • the device must rest on a perfectly stable support 10 such as a tripod or preferably a marble.
  • This device comprises a base 12 resting on the support and linked to it so as to obtain total immobilization.
  • This base is surmounted by an articulated arm 14 comprising at least 2 elements 16, 18.
  • the arm 14 comprises four elements 16, 18, 20 and 22.
  • Each element is articulated with respect to the others with at least two degrees of freedom and therefore each of these articulations comprises at least two coders 16-1, 16-2; 18-1, 18-2; 20-1, 20-2 and 22-1 and 22-2.
  • a third articulation 22-3 is provided.
  • an optics 24 for focusing a laser beam 26 independently generated and transported by an optical fiber
  • This laser beam can be generated by a laser diode emitting continuously or in pulsed manner.
  • An example of working wavelengths is a range between 0.4 and 1.1 ⁇ m, that is to say from visible to near infrared.
  • the transmission power can be controlled and adapted as required.
  • This element 22 is also equipped with an optical system 30 for digitizing a surface S lit by a laser beam, in this case a camera using CMOS (Complementary Metal Oxide Semiconductor) techniques or
  • CCD Charge Coupled Device
  • This camera can work in color or in shades of gray.
  • the resolution of such a camera for the present application is preferably of the VGA (Video Graphics Array) type with 640 pixels by 480 at least.
  • the video camera can record 60 images per second and 300 points per image are memorized.
  • the information processing unit 32 is located in the base.
  • the laser beam scans this surface and the camera records the intersection of this beam with the surface of the object, that is to say a line.
  • the coders make it possible to determine the position of the laser plane in the measurement space while digital images determine the points of this line of intersection.
  • Point clouds can also be preprocessed by smoothing, filtering and / or facet generation functions.
  • This data is then used by other software for measuring complex surfaces, dimensional control or design.
  • this digitized and synchronized data is transmitted to a computer 34 provided with a graphics card and a color screen 36 for displaying the points and for giving a surface 3D image, in real time.
  • a high speed wired link 38 of the ethernet type or a bluetooth wireless link makes it possible to transmit information concerning all of the memorized points with their spatial coordinates so as to generate an image on the screen in real time, without requiring specific wiring.
  • the display and the associated calculations are carried out by the computer 34 combined with the system. This leads to obtaining a 3D image consisting of a succession of points whose spatial coordinates are known, with a density sufficient to give a surface view of the object whose digital isation is thus achieved.
  • Figure 2 shows a block diagram of the implementation and interactions of the different elements.
  • Part A corresponds to the arm 14 with its functions
  • part B groups together the functions integrated into the base and on this same figure are represented s the central unit U ⁇ and the control screen E ⁇ .
  • the digital video image is represented at 40 and the coders are symbolized with the references 42.
  • the coordinates of the points on the surface of the object in the space of the laser plane are recorded at 44 and then transformed into 46 from the information of factory calibration in a matrix 48.
  • the coordinates of the position of the laser beam in the measurement space are recorded.
  • the wireless link 52 makes it possible to transfer the information to the U.
  • a graphics card 56 provides processing for display on the E ⁇ .
  • This information is collected and recorded in a memory 58.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Machine Tool Copy Controls (AREA)
  • Eyeglasses (AREA)

Abstract

The invention relates to a device for the contact-free, three-dimensional digitising of an object. The inventive device is characterised in that it comprises a base (12) on which is mounted an articulated arm (14) comprising at least two elements (16, 18, 20, 22), each element having at least two degrees of freedom in relation to the other elements. The invention also comprises an optic (24) for focusing a laser beam (26) at the end of the aforementioned arm and an optical system (30) which is used to digitise the image of a surface illuminated by the laser beam.

Description

DISPOSITIF DE NUMERISATION SANS CONTACT D'UN OBJET EN 3 DEVICE FOR NON-CONTACT SCAN OF AN OBJECT IN 3
DIMENSIONSDIMENSIONS
La présente invention concerne un dispositif de numérisation sans contact d'un objet en 3 dimensions.The present invention relates to a contactless scanning device of a 3-dimensional object.
On peut bien sûr concevoir en dessin assisté par ordinateur un objet en trois dimensions mais il existe aussi des objets en trois dimensions déjà réalisés dont il est nécessaire de prendre l'ensemble des mesures de façon à reconstituer une forme volumique.It is of course possible to design a three-dimensional object in computer-assisted drawing, but there are also three-dimensional objects already made of which it is necessary to take all of the measurements so as to reconstitute a volume form.
On peut prévoir un palpeur qui est relié à des capteurs en sorte d'enregistrer les déplacements et d'en déduire, par un ensemble de points, la forme volumique.A probe can be provided which is connected to sensors so as to record the displacements and to deduce therefrom, by a set of points, the volume form.
Néanmoins, soit l'objet peut être trop complexe avec des points en contre- dépouille interdisant l'usage d'un palpeur, soit l'objet est trop fragile pour qu'un palpeur puisse être déplacé à la surface dudit objet, soit encore la précision mécanique de la mesure n'est pas compatible avec le résultat recherché.However, either the object may be too complex with undercut points prohibiting the use of a probe, or the object is too fragile for a probe to be able to be moved on the surface of said object, or even the mechanical accuracy of the measurement is not compatible with the desired result.
L'objet de la présente invention est un dispositif permettant de numériser une surface d'un objet en trois dimensions sans contact. Le dispositif permet en un outil unique de disposer d'un moyen de mesure en 3D, autonome, fiable et dont la mise en oeuvre est simple et immédiate.The object of the present invention is a device for scanning a surface of an object in three dimensions without contact. The device allows a single tool to have a 3D measurement means, autonomous, reliable and whose implementation is simple and immediate.
On trouve en effet réunis dans ce seul outil des moyens de mesure sans contact et des moyens de repérage spatial.In fact, this single tool contains contactless measuring means and spatial tracking means.
Le présent dispositif est maintenant décrit en détail selon un mode de réalisation particulier, non limitatif, en regard des dessins sur lesquels les différentes figures représentent : - figure 1, une vue d'un schéma de principe du dispositif selon la présente invention, etThe present device is now described in detail according to a particular, nonlimiting embodiment, with reference to the drawings in which the different figures represent: FIG. 1, a view of a block diagram of the device according to the present invention, and
- figure 2, une vue de détail d'un synoptique de fonctionnement et de traitement des informations acquises. Le dispositif doit reposer sur un support 10 parfaitement stable tel qu'un trépied ou de préférence un marbre.- Figure 2, a detailed view of a block diagram of operation and processing of the information acquired. The device must rest on a perfectly stable support 10 such as a tripod or preferably a marble.
Ce dispositif comprend une embase 12 reposant sur le support et liée à lui de façon à obtenir une immobilisation totale.This device comprises a base 12 resting on the support and linked to it so as to obtain total immobilization.
Cette embase est surmontée d'un bras 14 articulé comportant au moins 2 éléments 16, 18. En l'occurrence, le bras 14 comprend quatre éléments 16, 18, 20 et 22.This base is surmounted by an articulated arm 14 comprising at least 2 elements 16, 18. In this case, the arm 14 comprises four elements 16, 18, 20 and 22.
Chaque élément est articulé par rapport aux autres avec au moins deux degrés de liberté et de ce fait chacune de ces articulations comprend au moins deux codeurs 16-1, 16-2 ; 18-1, 18-2 ; 20-1, 20-2 et 22-1 et 22-2. En ce qui concerne l'articulation de l'élément 22, il est prévu une troisième articulation 22-3.Each element is articulated with respect to the others with at least two degrees of freedom and therefore each of these articulations comprises at least two coders 16-1, 16-2; 18-1, 18-2; 20-1, 20-2 and 22-1 and 22-2. As regards the articulation of the element 22, a third articulation 22-3 is provided.
A l'extrémité de l'élément 22, il est disposé une optique 24 de focalisation d'un faisceau 26 laser généré indépendamment et transporté par une fibre optiqueAt the end of the element 22, there is an optics 24 for focusing a laser beam 26 independently generated and transported by an optical fiber
28. Ce faisceau laser peut être généré par une diode laser émettant en continu ou de manière puisée. Un exemple de longueurs d'ondes de travail est une plage située entre 0,4 et 1,1 μm, c'est-à-dire du visible au proche infrarouge. La puissance d'émission peut être contrôlée et adaptée en fonction des besoins.28. This laser beam can be generated by a laser diode emitting continuously or in pulsed manner. An example of working wavelengths is a range between 0.4 and 1.1 μm, that is to say from visible to near infrared. The transmission power can be controlled and adapted as required.
Cet élément 22 est également équipé d'un système optique 30 de numérisation d'une surface S éclairée par un faisceau laser, en l'occurrence une caméra utilisant les techniques CMOS (Complementary Métal Oxyde Semiconducteur) ouThis element 22 is also equipped with an optical system 30 for digitizing a surface S lit by a laser beam, in this case a camera using CMOS (Complementary Metal Oxide Semiconductor) techniques or
CCD (Charge Coupled Device).CCD (Charge Coupled Device).
Cette caméra peut travailler en couleur ou en nuances de gris. La résolution d'une telle caméra pour la présente application est de préférence du type VGA (Video Graphics Array) avec 640 pixels par 480 au moins. Pour donner un ordre de grandeur, la caméra vidéo peut enregistrer 60 images par seconde et il est mémorisé 300 points par image.This camera can work in color or in shades of gray. The resolution of such a camera for the present application is preferably of the VGA (Video Graphics Array) type with 640 pixels by 480 at least. To give an order of magnitude, the video camera can record 60 images per second and 300 points per image are memorized.
L'unité 32 de traitement des informations est située dans l'embase.The information processing unit 32 is located in the base.
Ainsi l'opérateur déplace le bras manuellement sur toute la surface de l'objet.Thus the operator moves the arm manually over the entire surface of the object.
Le faisceau laser balaye cette surface et la caméra enregistre l'intersection de ce faisceau avec la surface de l'objet, c'est-à-dire une ligne. Les codeurs permettent de déterminer la position du plan laser dans l'espace de mesure tandis que des images numériques, on détermine les points de cette ligne d'intersection.The laser beam scans this surface and the camera records the intersection of this beam with the surface of the object, that is to say a line. The coders make it possible to determine the position of the laser plane in the measurement space while digital images determine the points of this line of intersection.
Ces deux informations ont fusionnées pour obtenir les coordonnées des points et donc l'objet dans l'espace de mesure. A cet effet, des logiciels travaillant sous différents systèmes d'exploitation, notamment Windows ou Linux permettent d'ajuster, comme indiqué précédemment, la puissance du faisceau laser en fonction des surfaces numérisées et d'ajuster les temps d'intégration de la caméra.These two pieces of information were merged to obtain the coordinates of the points and therefore the object in the measurement space. To this end, software working under different operating systems, in particular Windows or Linux makes it possible to adjust, as indicated previously, the power of the laser beam as a function of the scanned surfaces and to adjust the integration times of the camera.
Les nuages de points peuvent aussi être prétraités par des fonctions de lissage, de filtrage et/ou de génération de facettes.Point clouds can also be preprocessed by smoothing, filtering and / or facet generation functions.
Ces données sont ensuite utilisées par d'autres logiciels de mesure de surfaces complexes, de contrôle dimensionnel ou de conception.This data is then used by other software for measuring complex surfaces, dimensional control or design.
Dans tous les cas, au sein du dispositif selon la présente invention, ces données numérisées et synchronisées sont transmises vers un ordinateur 34 muni d'une carte graphique et d'un écran 36 couleur pour affichage des points et pour donner une image 3D surfacique, en temps réel.In all cases, within the device according to the present invention, this digitized and synchronized data is transmitted to a computer 34 provided with a graphics card and a color screen 36 for displaying the points and for giving a surface 3D image, in real time.
Une liaison 38 filaire à haut débit du type éthernet ou une liaison sans fil bluetooth permet de transmettre les informations concernant l'ensemble des points mémorisés avec leurs coordonnées spatiales en sorte de générer une image sur l'écran en temps réel, ceci sans nécessiter un câblage spécifique.A high speed wired link 38 of the ethernet type or a bluetooth wireless link makes it possible to transmit information concerning all of the memorized points with their spatial coordinates so as to generate an image on the screen in real time, without requiring specific wiring.
L'affichage et les calculs associés sont réalisés par l'ordinateur 34 combiné au système. Ceci conduit à l'obtention d'une image en 3D constituée d'une succession de points dont les coordonnées spatiales sont connues, avec une densité suffisante pour donner une vue surfacique de l'objet dont la digital isation est ainsi réalisée.The display and the associated calculations are carried out by the computer 34 combined with the system. This leads to obtaining a 3D image consisting of a succession of points whose spatial coordinates are known, with a density sufficient to give a surface view of the object whose digital isation is thus achieved.
La figure 2 montre un synoptique de mise en oeuvre et des interactions des différents éléments. La partie A correspond au bras 14 avec ses fonctions, la partie B regroupe les fonctions intégrées à l'embase et sur cette même figure sont représenté s l'unité centrale UÇ et l'écran EÇ de contrôle.Figure 2 shows a block diagram of the implementation and interactions of the different elements. Part A corresponds to the arm 14 with its functions, part B groups together the functions integrated into the base and on this same figure are represented s the central unit UÇ and the control screen EÇ.
L'image vidéo numérique est représentée en 40 et les codeurs sont symbolisés avec les références 42. Les coordonnées des points de la surface de l'objet dans l'espace du plan laser sont enregistrées en 44 puis transformées en 46 à partir des informations de calibration usine en une matrice 48.The digital video image is represented at 40 and the coders are symbolized with the references 42. The coordinates of the points on the surface of the object in the space of the laser plane are recorded at 44 and then transformed into 46 from the information of factory calibration in a matrix 48.
En 50, on enregistre les coordonnées de la position du faisceau laser dans l'espace de mesure. La liaison 52 sans fil permet de transférer les informations vers l'U . Un logicielAt 50, the coordinates of the position of the laser beam in the measurement space are recorded. The wireless link 52 makes it possible to transfer the information to the U. A software
54 assure le traitement de ces informations. Une carte graphique 56 assure le traitement pour l'affichage sur l'EÇ.54 handles the processing of this information. A graphics card 56 provides processing for display on the EÇ.
Ces informations sont recueillies et enregistrées dans une mémoire 58.This information is collected and recorded in a memory 58.
Toutes les opérations sont réalisées sans contact, ce qui est un grand intérêt. Un tel dispositif travaillant sans contact est en effet particulièrement utile dans le cas de matériaux mous ou déformables comme de sièges pour automobiles, des réservoirs de véhicule, des maquettes en mousse. Un avantage est que la mesure n'est pas affectée par le manque de rigidité de la matière. De plus, une pièce très fragile ne risque pas non plus de subir des rayures ou d'autres marquages mécaniques indésirables.All operations are carried out without contact, which is of great interest. Such a contactless device is in fact particularly useful in the case of soft or deformable materials such as seats for cars, vehicle tanks, foam models. An advantage is that the measurement is not affected by the lack of rigidity of the material. In addition, a very fragile part also does not risk being subjected to scratches or other undesirable mechanical markings.
On peut aussi relever des surfaces complexes.We can also identify complex surfaces.
De plus, on peut comparer aisément la surface relevée et numérisée au moyen du dispositif selon la présente invention avec la définition numérique obtenue lors de la conception à l'aide d'un logiciel de Dessin Assisté par Ordinateur.In addition, it is easy to compare the surface surveyed and digitized by means of the device according to the present invention with the digital definition obtained during the design using computer-assisted drawing software.
On peut ainsi réaliser une cartographie des écarts mais aussi faire un contrôle qualité en sortie de chaîne de fabrication. It is thus possible to carry out a mapping of the deviations but also to make a quality control at the end of the production line.

Claims

REVENDICATIONS
1. Dispositif de numérisation sans contact d'un objet en 3 dimensions, caractérisé en ce qu'il comprend une embase (12) surmontée d'un bras (14) articulé comportant au moins deux éléments (16, 18, 20, 22), chaque élément ayant par rapport aux autres au moins deux degrés de liberté, une optique (24)1. Device for contactless scanning of a 3-dimensional object, characterized in that it comprises a base (12) surmounted by an articulated arm (14) comprising at least two elements (16, 18, 20, 22) , each element having compared to the others at least two degrees of freedom, an optic (24)
5 de focalisation d'un faisceau (26) laser à l'extrémité de ce bras et un système optique (30) de numérisation de l'image d'une surface éclairée par ledit faisceau laser.5 for focusing a laser beam (26) at the end of this arm and an optical system (30) for scanning the image of a surface illuminated by said laser beam.
2. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon la revendication 1, caractérisé en ce que le système optique (30) de numérisation 0 de l'image d'une surface éclairée par ledit faisceau laser est une caméra numérique.2. Device for contactless scanning of a 3-dimensional object according to claim 1, characterized in that the optical system (30) 0 for scanning the image of a surface illuminated by said laser beam is a digital camera.
3. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon la revendication 1 ou 2, caractérisé en ce qu'il comprend au moins deux codeurs (16-1, 16-2 ; 18-1, 18-2 ; 20-1, 20-2 et 22-1 et 22-2) pour chaque articulation. 53. Device for contactless scanning of a 3-dimensional object according to claim 1 or 2, characterized in that it comprises at least two coders (16-1, 16-2; 18-1, 18-2; 20 -1, 20-2 and 22-1 and 22-2) for each joint. 5
4. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon la revendication 3, caractérisé en ce qu'il comprend un troisième codeur (22 -3) associé à l'articulation du dernier élément (22).4. Device for contactless scanning of a 3-dimensional object according to claim 3, characterized in that it comprises a third encoder (22 -3) associated with the articulation of the last element (22).
5. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend une5. Device for contactless scanning of a 3-dimensional object according to any one of the preceding claims, characterized in that it comprises a
20 unité (32) de traitement des informations, située dans l'embase (12) , apte à recueillir les coordonnées spatiales de chaque point, issues des codeurs et à les synchroniser avec les points numérisés issus de chaque image du système optique.20 information processing unit (32), located in the base (12), capable of collecting the spatial coordinates of each point, coming from the coders and synchronizing them with the digitized points coming from each image of the optical system.
6. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend un6. Device for contactless scanning of a 3-dimensional object according to any one of the preceding claims, characterized in that it comprises a
-5 ordinateur (34) muni d'une carte graphique et d'un écran (36) pour effectuer les calculs nécessaires et afficher les ensembles de points à leurs coordonnées pour donner une image 3D surfacique, en temps réel.-5 computer (34) provided with a graphics card and a screen (36) for performing the necessary calculations and display the sets of points at their coordinates to give a surface 3D image, in real time.
7. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon la revendication 6, caractérisé en ce qu'il comprend une liaison filaire à haut débit ou une liaison sans fil entre l'embase (12) avec son unité (32) de traitement et l'ordinateur (34).7. Device for contactless scanning of a 3-dimensional object according to claim 6, characterized in that it comprises a high speed wired link or a wireless link between the base (12) with its unit (32) and the computer (34).
8. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon l'une quelconque des revendications précédentes, caractérisé en ce que le faisceau laser est généré indépendamment et transporté par une fibre optique (28). 8. Device for contactless scanning of a 3-dimensional object according to any one of the preceding claims, characterized in that the laser beam is independently generated and transported by an optical fiber (28).
9. Dispositif de numérisation sans contact d'un objet en 3 dimensions selon la revendication 8, caractérisé en ce que les longueur s d'ondes de travail du faisceau laser sont comprise s entre 0,4 et 1,1 μm, sous forme d'émission continue ou puisée. 9. Device for contactless scanning of a 3-dimensional object according to claim 8, characterized in that the length s of the working beam of the laser beam are between 0.4 and 1.1 μm, in the form of continuous or pulsed emission.
PCT/FR2003/050108 2002-10-24 2003-10-24 Device for the contact-free, three-dimensional digitising of an object WO2004040235A2 (en)

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FR0213306A FR2846413B1 (en) 2002-10-24 2002-10-24 DEVICE FOR NON-CONTACT SCANNING OF A 3-DIMENSION OBJECT
FR02/13306 2002-10-24

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CN104807425A (en) * 2007-04-03 2015-07-29 六边形度量衡股份公司 Method and device for exact measurement of objects
US9020240B2 (en) 2007-08-10 2015-04-28 Leica Geosystems Ag Method and surveying system for noncontact coordinate measurement on an object surface
US8036452B2 (en) 2007-08-10 2011-10-11 Leica Geosystems Ag Method and measurement system for contactless coordinate measurement on an object surface
EP2023077B1 (en) 2007-08-10 2015-06-10 Leica Geosystems AG Method and measuring system for contactless coordinate measurement of the surface of an object

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FR2846413B1 (en) 2005-03-11
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WO2004040235A3 (en) 2004-07-01

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