EP1190214A1 - Appareil et procede permettant de determiner la position et l'orientation d'un premier axe d'une partie par rapport a un cadre de reference connu - Google Patents

Appareil et procede permettant de determiner la position et l'orientation d'un premier axe d'une partie par rapport a un cadre de reference connu

Info

Publication number
EP1190214A1
EP1190214A1 EP00940503A EP00940503A EP1190214A1 EP 1190214 A1 EP1190214 A1 EP 1190214A1 EP 00940503 A EP00940503 A EP 00940503A EP 00940503 A EP00940503 A EP 00940503A EP 1190214 A1 EP1190214 A1 EP 1190214A1
Authority
EP
European Patent Office
Prior art keywords
light source
axis
light
imaging devices
orientation
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP00940503A
Other languages
German (de)
English (en)
Inventor
Richard Alexander
Richard Michael Gooch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems PLC
Original Assignee
BAE Systems PLC
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.)
Filing date
Publication date
Application filed by BAE Systems PLC filed Critical BAE Systems PLC
Publication of EP1190214A1 publication Critical patent/EP1190214A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means

Definitions

  • This invention relates to measurement apparatus for determining the position and orientation of a first axis of a first part to be moved or operated relative to a known frame of reference, particularly, but not exclusively suitable for use in robotic drilling operations.
  • CMM co-ordinate measuring machine
  • apparatus for determining the position and orientation of a first axis of a first part to be moved or operated relative to a known frame of reference, including first means for rigidly holding said first part, at least two imaging devices, each attachable to said first means, at least one first light source, which first light source is either an active light source or an illuminable reflecting point, a calibration device, releasably holdable by said first part about said first axis, which device has the at least one first light source on a first face thereof, such that when the device is operatively held by the first part and moved thereby through a series of operating positions light is projected or reflected from said first light source, which light is imaged by each of the imaging devices at the series of operating positions, and the imaging devices are operable to output signals indicative of the light projected or reflected from said first light source corresponding to each of the operating positions in the series, and a processor for receiving and processing the output signals indicative of the light projected or reflected from said first light source at said
  • the known frame of reference is a co-ordinate frame common to the at least two imaging devices.
  • indexing means wherein the first means is an end-effector, which end-effector is in operative association with the indexing means.
  • the first part includes clamping means and rotating means.
  • the calibration device has a shaft of substantially circular cross-section, and wherein the at least one first light source is radially displaced from said shaft.
  • the at least one first light source is located on an elongated, substantially rectangular cross-section bar, which bar is rigidly attached to a first end of the shaft and oriented substantially perpendicular thereto.
  • the shaft of the calibration device engages with and is releasably held by said clamping means such that when the first means is in operation, the rectangular bar and first end of said shaft protrude from the clamping means and rotate around the first axis.
  • each of the at least two imaging devices is a metrology sensor operable to create digitisable images.
  • At least two second light sources each associated with a respective imaging device.
  • the at least one first light source is fabricated from retro- reflective material.
  • communication links between the imaging devices and the processor for transmitting the output signals indicative of the reflected light at each of the operating positions which links include coaxial cables and framegrabber ports.
  • a method for determining the position and orientation of a first axis of a first part to be moved or operated relative to a known frame of reference including the steps of fitting a calibration device to clamping means provided by the first part, which first part is rigidly held by first means and which calibration device has at least one first light source on a first face thereof, which at least one first light source is an active light source or an illuminable reflecting point, rotating the clamping means through at least 360 degrees, imaging on at least two imaging devices light reflected or projected from the at least one first light source, transmitting output signals from the imaging devices, each of which are attached to the first means, to a processor, which output signals are indicative of light projected or reflected from the at least one first light source at a series of operating positions corresponding to rotation of the clamping means, establishing, from the output signals, the first axis position and orientation in a known frame of reference.
  • Preferably establishing the first axis position and orientation includes combining the output signals, which output signals provide a spatial map of the at least one first light source relative to the first axis when the calibration device is rotated by the clamping means, so as to define a first point and a first plane from which the first axis position and orientation is derivable.
  • Figure 1 is schematic perspective representation of apparatus for determining the position and orientation of a first axis of a first part to be moved or operated relative to a known frame of reference according to the present invention
  • Figure 2 is a perspective view of the apparatus of Figure 1 , showing a calibration device having a first light source located thereon, and
  • Figure 3 is a perspective view of the calibration device of Figure 2, showing a series of operating positions of the first light source.
  • Apparatus according to the present invention for determining the position and orientation of a first axis of a first part to be moved or operated relative to a known frame of reference, as shown in the accompanying Figures 1 to 3, is suitable for calibrating any axis of any device where the axis to be calibrated can locate and move a calibration device.
  • the calibration device can be positioned in the drill mount, and its position recorded by a photogrammetry system.
  • apparatus for determining the position and orientation of a first axis 1 of a first part 2 to be moved or operated relative to a known frame of reference 3 includes first means 4 for rigidly holding said first part 2, at least two imaging devices 5a, 5b, each attachable to said first means 4, at least one first light source 6, shown in Figure 2, which first light source 6 is either an active light source or an illuminable reflecting point, and a calibration device 7.
  • the calibration device 7 is releasably holdable by said first part 2 about the first axis 1 , which device 7 has the at least one first light source 6 on a first face 8 thereof, such that when the device 7 is operatively held by the first part 2 and moved thereby through a series of operating positions 9 light is projected or reflected from said first light source 6, which light is imaged by each of the imaging devices 5a, 5b at the series of operating positions 9, and the imaging devices 5a, 5b are operable to output signals 10a, 10b indicative of the light projected or reflected from said first light source 6 corresponding to each of the operating positions 9 in the series.
  • the apparatus further includes a processor 11 , for receiving and processing the output signals 10a, 10b indicative of the light projected or reflected from the first light source 6 at said operating positions 9 so as to determine the position and orientation of a first axis 1 relative to a known frame of reference 3.
  • the first part 2 is a drill mount and the first means 4 is a robot end-effector, and when the robot end- effector is attached to a robot 18, the drill mount is activated to clamp or rotate a part about its axis 1.
  • Figure 1 also shows a co-ordinate frame 3, which is the known frame of reference, and this represents a co-ordinate frame common to both imaging devices 5a, 5b.
  • a co-ordinate frame 3 which is the known frame of reference, and this represents a co-ordinate frame common to both imaging devices 5a, 5b.
  • the co-ordinate frame is determined off-line, before any measurements are taken, and thus known at the time of measuring the position and orientation of the first axis 1.
  • the calibration device 7 shown in Figure 2 has a shaft 14 of substantially circular cross-section, with the first light source 6 located on an elongated, substantially rectangular cross-section bar 16 and thus radially displaced 15 from the shaft 14.
  • the bar 16 is rigidly attached to a first end 14a of the shaft 14 and is oriented substantially perpendicular thereto, such that when the shaft 14 engages with clamping means 13 provided by the first part 2, and the first part 2 is activated, the rectangular bar 16 and the first end 14a of the shaft 14 protrude from the clamping means 13 and rotate 17 around the first axis 1.
  • Each of the imaging devices 5a, 5b shown in Figure 1 is a metrology sensor, operable to create digitisable images, and there are two second light sources 18a, 18b, each attached to each of the imaging devices 5a, 5b and each projecting light onto the first face 8 of the calibration device 7.
  • the first light source 6 is an illuminable target fabricated from retro-reflective material, reflecting the light projected from the second light sources 18a, 18b.
  • the imaging devices 5a, 5b are operable to create digitisable images, such that the light reflected from the first light source 6 is reproduced as an image of white pixels against a dark background, which white pixels define a two dimensional spatial location of the first light source 6 on each of the imaging devices 5a, 5b.
  • These images are communicated as output signals 10a, 10b by means of communication links 19, which are preferably coaxial cables, to the processor 11 through framegrabber ports 19a, 19b.
  • the apparatus of the invention is operable to determine the position and orientation of a first axis 1 of a first part 2 to be moved or operated relative to a known frame of reference 3 by implementing a method of the invention, which method includes the steps of fitting a calibration device 7 to clamping means 13 provided by the first part 2, which first part is rigidly held by the first means 4, and which calibration means 7 has at least one first light source 6 on a first face 8 thereof, rotating 17 the clamping means 13 through at least 360 degrees, imaging on at least two imaging devices 5a, 5b light reflected or projected from the first light source 6 at a series of operating positions 9, and transmitting output signals 10a, 10b from the imaging devices to a processor 11.
  • the output signals 10a, 10b are analogue signals that are digitised by a framegrabber in the processor 11 and are stored in memory as bitmaps 20a, 20b for establishing the first axis 1 position and orientation in a known frame of reference.
  • the bitmaps 20a, 20b stored in memory contain a two dimensional array of pixel light intensity values corresponding to a sampling of the output signals 10a, 10b. These are each analysed by the processor 11 to locate the operating positions 9, shown in Figure 3, in the known co-ordinate system 3.
  • the operating positions 9 thus provide a spatial map of the light source 6 relative to the first axis 1 which, for a rotation of the clamping means 13, is a circular loci defining a first plane 21. As the first axis 1 projects through the centre of and is perpendicular to this first plane 21 , the first axis 1 is completely defined.

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Drilling And Boring (AREA)

Abstract

L'invention concerne un appareil permettant de déterminer la position et l'orientation d'un axe (1) d'une partie (2) par rapport à un cadre de référence (3). Cet appareil comprend au moins deux dispositifs (5a, 5b) de formation d'images; au moins une source (6) lumineuse; un dispositif (7) d'étalonnage supporté de manière amovible par ladite partie (2) au bout dudit axe (1), lequel axe comprend au moins une source (6) lumineuse sur une face (8), de sorte que lorsque le dispositif (7) est dans diverses positions (9) opérationnelles, la lumière est projetée ou reflétée par ladite source (6). Cette lumière est illustrée par chacun des dispositifs (5a, 5b) de formation d'images dans les diverses positions (9) opérationnelles. Les dispositifs (5a, 5b) permettent de produire des signaux (10a, 10b) représentant la lumière émise par la source (6) correspondant à chacune des positions opérationnelles (9). L'appareil comprend également un processeur (11) permettant de recevoir et de traiter les signaux (10a, 10b) de sortie de manière à déterminer la position et l'orientation d'axe (1) par rapport au cadre de référence (3).
EP00940503A 1999-06-26 2000-06-08 Appareil et procede permettant de determiner la position et l'orientation d'un premier axe d'une partie par rapport a un cadre de reference connu Withdrawn EP1190214A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9914917 1999-06-26
GBGB9914917.1A GB9914917D0 (en) 1999-06-28 1999-06-28 Apparatus and method for determing the position and orientation of a first axis of a part relative to a known frame of reference
PCT/GB2000/002227 WO2001001073A1 (fr) 1999-06-26 2000-06-08 Appareil et procede permettant de determiner la position et l'orientation d'un premier axe d'une partie par rapport a un cadre de reference connu

Publications (1)

Publication Number Publication Date
EP1190214A1 true EP1190214A1 (fr) 2002-03-27

Family

ID=10856091

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00940503A Withdrawn EP1190214A1 (fr) 1999-06-26 2000-06-08 Appareil et procede permettant de determiner la position et l'orientation d'un premier axe d'une partie par rapport a un cadre de reference connu

Country Status (5)

Country Link
EP (1) EP1190214A1 (fr)
JP (1) JP3553887B2 (fr)
AU (1) AU770456B2 (fr)
GB (1) GB9914917D0 (fr)
WO (1) WO2001001073A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2541197A (en) * 2015-08-11 2017-02-15 Nokia Technologies Oy An apparatus and method for calibrating cameras

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
JPS5299486A (en) * 1976-02-18 1977-08-20 Hitachi Ltd Deflection detecting apparatus for spindle of machine tool
US4154532A (en) * 1978-04-20 1979-05-15 The United States Of America As Represented By The Secretary Of The Navy High precision optical alignment system
JPS5856758A (ja) * 1981-09-28 1983-04-04 Hitachi Ltd 大型工作物の自動芯出し装置
JPS6014182A (ja) * 1983-07-05 1985-01-24 Nec Corp レ−ザビ−ム位置検出器
JPS60263691A (ja) * 1984-06-08 1985-12-27 株式会社日立製作所 ロボツト用検査装置
US4890918A (en) * 1988-09-15 1990-01-02 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Docking alignment system
JPH04114607U (ja) * 1991-03-22 1992-10-09 株式会社明電舎 ロボツトの位置合わせ装置
JPH04299204A (ja) * 1991-03-27 1992-10-22 Toyoda Mach Works Ltd バイト端縁検出装置
JP3339090B2 (ja) * 1993-02-25 2002-10-28 ソニー株式会社 位置検出方法
JP2502933B2 (ja) * 1993-12-27 1996-05-29 ユーエイチティー株式会社 画像処理によるドリルの中心位置検出方法
JPH07227784A (ja) * 1994-02-15 1995-08-29 Daikin Ind Ltd ビジョン装置と産業用ロボットとの座標合せ方法およびその装置
EP0813081A1 (fr) * 1996-06-12 1997-12-17 Siemens Aktiengesellschaft Procédé pour déterminer l'angle d'inclination d'au moins une fibre optique et dispositif pour la mise en oeuvre du procédé
JP3928213B2 (ja) * 1997-05-29 2007-06-13 石川島播磨重工業株式会社 ３次元計測方法及び装置
JPH11160021A (ja) * 1997-11-27 1999-06-18 Nippon Telegr & Teleph Corp <Ntt> 広域３次元位置計測方法及び装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO0101073A1 *

Also Published As

Publication number Publication date
WO2001001073A1 (fr) 2001-01-04
GB9914917D0 (en) 1999-08-25
JP3553887B2 (ja) 2004-08-11
AU770456B2 (en) 2004-02-19
AU5543100A (en) 2001-01-31
JP2003500637A (ja) 2003-01-07

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