EP1285224A1 - Procede et dispositif pour determiner la forme en trois dimensions d'un objet - Google Patents

Procede et dispositif pour determiner la forme en trois dimensions d'un objet

Info

Publication number
EP1285224A1
EP1285224A1 EP01943385A EP01943385A EP1285224A1 EP 1285224 A1 EP1285224 A1 EP 1285224A1 EP 01943385 A EP01943385 A EP 01943385A EP 01943385 A EP01943385 A EP 01943385A EP 1285224 A1 EP1285224 A1 EP 1285224A1
Authority
EP
European Patent Office
Prior art keywords
objects
measurement
measuring
registration
measured
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.)
Ceased
Application number
EP01943385A
Other languages
German (de)
English (en)
Inventor
Armin Maidhof
Peter Andrä
Manfred Adlhart
Michael Kaus
Markus Basel
Frank Thoss
Markus Lazar
Thomas Nasswetter
Hans Steinbichler
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.)
Steinbichler Optotechnik GmbH
Original Assignee
Steinbichler Optotechnik GmbH
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 Steinbichler Optotechnik GmbH filed Critical Steinbichler Optotechnik GmbH
Publication of EP1285224A1 publication Critical patent/EP1285224A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines

Definitions

  • the invention relates to a method and a device for determining the SD shape of an object.
  • the object can also be called a measurement object.
  • the spatial and SD coordinates of surface points of the object or measurement object can be determined by the method and the device.
  • Tactile and optical methods are primarily used to determine the shape of surfaces.
  • optical 3D measuring methods allow non-contact, areal and time-efficient measurement of complex object shapes of various sizes.
  • optical measurement technology A large number of optical sensors with different properties now exist for optical measurement technology. For example, The 3D shape of surfaces is often measured over a large area using optical triangulation methods (stripe projection, moire). However, a variety of 3D measurement arrangements with coherent light (laser scanning method, interferometic contouring method) are also known.
  • Tactile and optical methods are used in the field of three-dimensional coordinate measuring technology, in areal 3D shape accuracy and surface inspection. tion of technical objects, in the inspection and position control of components, in particular of motor vehicles, model and tool shapes required.
  • 3D-CMM three-dimensional coordinate measuring machines
  • strip projection methods with a matrix camera and a projector for uncoded or coded strips are known, in which the three-dimensional coordinates of the surface points from the image coordinates of the camera image and the strip numbers detected at the respective image coordinate is calculated on the basis of geometric models of the measurement setup.
  • methods based on photogrammetry using several cameras and projectors are known.
  • Laser triangulation methods working point by point and line by line are expanded by in some cases complex scanning and handling mechanisms for extensive surface probing. Imaging triangulation methods from the field of photogrammetry allow the measurement of a large number of individual points with high accuracy.
  • a common, principle-related problem arises in all 3D measurement methods and systems, namely the problem that a single area measurement using a 3D CMM is not sufficient for the complete acquisition of a measurement object, for example in the all-round measurement. For this reason, objects from different directions of a 3D CMM or several 3D CMMs that can be changed in position are recorded and measured.
  • the spatial arrangement of the 3D CMM and the object can change, for example when repositioning the measuring device or the object. If the corresponding positions of the 3D CMM for the object are known, the corresponding individual measurements can be linked like a mosaic for the purpose of the overall object reconstruction.
  • the 3D object coordinates acquired by individual measurements in the respective device coordinate system are transformed by means of a geometric transformation rule into the spatially fixed coordinate system of the 3D measurement arrangement, the reference coordinate system (hereinafter referred to as reference KOS) ,
  • a metrological problem is that with the previously known methods, inaccuracies in the position values result in gaps between the individual fields and in loss of accuracy over the entire object dimension. This problem is to be solved by the present invention.
  • Various methods and system solutions are known for determining the positions of the measuring devices and linking the individual measuring fields.
  • optical 3D sensors are known which are positioned in the required measuring positions and aligned with the object using a mechanical guide system (e.g. multi-axis CNC, coordinate measuring machines, measuring arm, robot).
  • the position values are given to the guidance system (internal glass scales), from which the transformation rule to be used for linking the individual measuring fields is determined.
  • the accuracy of the overall measurement places high demands on the execution of the movement mechanics.
  • the disadvantage is the high level of design and cost involved in creating the management and measuring system. Despite the effort, residual errors and gaps between the measurement data remain at a significant level, especially in multi-axis positioning systems. A high expenditure of time arises from the definition of the path movement, the measurement volume and the travel speeds for the CNC machine.
  • the object must be brought to the measuring system, which means that mobile measurement is not possible.
  • Special versions relate to sensors that are mounted on a movable "measuring arm” (e.g. articulation arm). Although they allow mobile measurement by simple transport, the object measuring range is limited to approximately 1 m.
  • photogrammetric methods and systems which determine the spatial position of a camera (or a projector) in relation to several visible references. be able to determine boundary points whose coordinates are given in space (spatial backward step).
  • photogrammetric methods and systems are known which can determine several spatial positions of a camera (or a projector) or spatial positions of several cameras (or projectors) relative to one another, provided that the gray value and phase images taken from different directions have several common measuring points, for example in the form of measuring marks contain, whose coordinates do not have to be known in advance (bundle compensation).
  • this method also calculates the coordinates of these measuring points (simultaneous calibration).
  • a length reference is introduced as a yardstick.
  • photogrammetric orientation methods which can determine the spatial position of an optoelectronic 3D sensor (consisting of at least one camera and a projector), a camera or a projector for several visible reference points, the coordinates of which are given in space.
  • a reference network of individual measuring points that is stationary with respect to the measurement object enables the measurement data of individual partial measurements to be composed. It is known that such reference points e.g. in the form of measuring marks both on the object itself or outside the object, e.g. be attached to external measuring cages or backdrops (DE 19840 334 A1, DE 195 36 294 A1).
  • Prerequisites for a sufficiently precise determination of the position of optoelectronic sensors by means of a reference network are a minimum number of three to four measuring marks in a sensor receptacle and their distribution as uniform as possible in the measuring field.
  • a large number of coded and uncoded measuring marks must therefore be used to measure extensive objects. The application of these measuring marks and, if necessary, their removal are therefore very time-consuming (high workload).
  • essential parts of the surface of the measuring object are covered by the glued-on marks or the measuring cage used or the backdrop. If the minimum number of measuring marks or their even distribution in the measuring field cannot be guaranteed for complex-structured, that is to say non-planar objects, then the object can be not fully measured.
  • measuring cages or scenes become unwieldy and difficult to transport due to the necessary expansion and weight.
  • the advantage of a mobile measuring system is therefore lost.
  • a loss of accuracy results from inadequate setting stability, especially if its mass is reduced.
  • the measurement of the marks requires the use of an additional measuring system and thus an increased amount of work.
  • 3D data sets also referred to as matching
  • these methods are also used for the registration of measured 3D data sets on predefined CAD models of these objects for the purpose of the target-actual comparison.
  • numerical compensation methods are used, which calculate the desired transformation from one to the other 3D data set, that is, the transformation parameters.
  • the transformation between the spatially changed device KOS can thus be carried out.
  • a device KOS is defined for the reference or reference KOS, so that the 3D data of different device KOS can be transformed to this reference KOS. The result is a uniform surface description with 3D object coordinates in the reference KOS.
  • the object of the invention is to propose an improved method and an improved device of the type specified at the outset.
  • this object is achieved by the features of claim 1.
  • several areas of the object are measured. Several areas are understood to mean at least two areas.
  • the SD coordinates of the object or the surface of the object are determined by the measurement.
  • at least one reference object is measured.
  • the measured areas of the object are linked together. This linkage, which can also be referred to as registration, takes place in relation to a coordinate system.
  • the reference object is generally in a position whose relative position to the object is unknown.
  • the method according to the invention does not presuppose that the position of the reference object in relation to the object is predetermined.
  • the reference object therefore does not have to be positioned in a specific, predetermined position relative to the object.
  • the reference object must maintain the position in which it has been brought and in which it is located.
  • the reference object is in a constant (fixed, fixed, stable) position to the object.
  • the reference object can be a previously measured reference object.
  • the positions and / or distances of the reference objects in space can therefore be known, for example by means of a preliminary measurement.
  • the reference object or objects are not measured beforehand, ie are initially unknown.
  • Such reference objects, the positions and / or distances of which are not known in advance, are referred to below as auxiliary objects.
  • the object on which the invention is based is achieved by a 3D coordinate measuring machine (3D CMM) which, in particular, works mechanically-tactile and / or optically non-contact.
  • 3D CMM 3D coordinate measuring machine
  • ten at least one reference object and a computer for linking (registering) the measured areas of the object.
  • the invention provides a method and a device for coordinate measurement with optical and / or tactile 3D coordinate measuring devices (using 3D references).
  • the technical field of application consists in the determination of the holistic 3D shape or the 3D shape of bodies or objects in space or even complete scenes (measurement object), composed of several measurement fields from at least one in particular optical and / or tactile coordinate measuring machine which Returns surface coordinates, and with at least one reference object or reference body.
  • the carrier of the reference object can also be the measurement object itself.
  • the reference object or objects can be located on the measurement object. However, it is also possible for the reference object or objects to be located outside the measurement object.
  • the optical and / or tactile coordinate measuring system used to carry out the method is further referred to as a 3D coordinate measuring device (3D CMM)
  • the necessary reference body is a 3D reference device
  • the necessary arrangement consisting of at least one 3D coordinate measuring device and At least one 3D reference device is referred to as a 3D measurement arrangement
  • the method for assembling a plurality of measurement fields is referred to as a 3D coordinate measurement or 3D reconstruction method.
  • the 3D measurement arrangement and the method are used in the sense of 3D measurement technology.
  • the 3D point cloud of an object or a scene is determined in the form of 3D coordinates with reference to a fixed zero point, that is to say relative to a reference coordinate system.
  • the coordinate system (KOS) of the 3D coordinate measuring machine is used as a sensor or Device KOS and the fixed reference coordinate system of the entire 3D measuring arrangement are referred to as reference KOS.
  • the calculated 3D point cloud can, for example, be processed further in a CAD / CAE system for the purpose of surface feedback, the target / actual comparison or for milling data generation.
  • the method and the device can be used for mobile measurement technology.
  • the invention relates to a method for the metrological spatial SD position detection of surface points of an object to be measured and a device for use as a 3D reference in the three-dimensional measurement of extended objects.
  • the invention further relates to a method for generating and linking 3D data sets using 3D CMM (3D reconstruction method) and a device for use as a reference for the most complete, three-dimensional shape and structure detection of extended objects.
  • the invention creates a 3D reconstruction method of the type specified at the outset and an apparatus for carrying out such a method, with which objects and object structures can be measured three-dimensionally with high precision, in particular with tactile and / or optical 3D coordinate measuring machines, the can change the spatial arrangement or position from the 3D CMM to the object in order to then be able to fit the partial views together precisely and globally (using an SD reference).
  • the invention relates to a method for linking SD data records and a 3D measurement arrangement for the complete, three-dimensional shape detection of objects by means of at least one coordinate measuring machine (sensor or probe) and at least one reference object.
  • a reference body is preferably used as a carrier for reference objects.
  • the positions and / or distances of the reference objects in the room can be known or unknown his. Parts of the object surface and the reference objects can be used to register the measured object areas.
  • the advantage of the method according to the invention compared to existing methods is that a high degree of accuracy is achieved when linking measuring fields in the overlap area of the measuring fields and at the same time also over the overall dimension of the object by a small number of 3D references.
  • the method largely avoids a dependency of the quality of the measurement results on the nature of the object.
  • Another advantage is the simplified handling of the overall measuring system and the flexibility with regard to different objects.
  • the method allows the simple measurement of smooth surfaces without a structure, especially of large objects, as well as the measurement of heavily structured object areas, to which references can be attached only with difficulty or not at all. The completeness of the object measurement without gaps in the data set can be fully guaranteed.
  • the method enables high mobility of the overall measuring system. Due to their low weight, the reference bodies are easy to handle and easy to transport. Nevertheless, a high stability of the reference structure is achieved.
  • the method enables a high measuring speed and thus a short object occupancy time.
  • a method can be used in which the previously known, unknown and measured parameters of the objects and given if necessary, measuring points in overlapping measuring fields are compared with one another, transformations between the data sets are calculated and applied.
  • the known parameters of the reference objects in the reference KOS are compared with parameters determined from the measurement in the 3D KMG KOS,
  • the parameters of the reference objects determined from measurements in the overlap area of the measuring fields are compared in different KMG-KOS,
  • correspondences between the objects and / or the measurement points of the recordings can be produced from the comparison by means of numerical compensation methods, and transformation matrices can be calculated which include one or more KMG-KOS in the reference KOS and a KMG-KOS in another KMG-KOS and so that all KMG-KOS transform into the reference KOS,
  • the transformation matrices are used to transfer the coordinates of the object measured by a measurement object with at least one 3D CMM in the CMM KOS to the reference KOS.
  • the reference objects can be described geometrically regularly or irregularly and mathematically-geometrically, so that not only their position, center coordinate or distances in space, but also other geometric parameters such as radius, curvature, etc. can be used. Such geometric parameters can also be obtained from descriptions of the surface and its structures using methods of fractal geometry, wavelet analysis, etc.
  • the reference objects can be geometrically regular or irregular. If the reference objects can be described mathematically and geometrically, their geometric parameters such as radius, curvature, etc. can be used.
  • Reference objects can be one, two or three-dimensional, e.g. marked point, marked line or grid, a measurement or signal mark, a 3D object structure, etc.
  • Signal marks are e.g. reflective and / or scattering signal marks (measuring marks) with an illumination device (also sensor itself) or light-emitting signal marks.
  • 3D object structures are advantageously e.g. individual, either reflecting and / or scattering regulating bodies, e.g. Cube, ball, pyramid, stump. Other geometries are possible.
  • reference objects can be determined by the structure of the object, e.g. Holes and edges.
  • Selected areas or measured surface points of the measurement object itself can also be used as reference objects. the. Their geometric parameters can be specified and used in the process. In particular, the spatial extent or length of a measurement object in one or more dimensions can be taken into account when linking.
  • Reference objects can be used in particular in optical measuring systems by optical structure projection, e.g. circular marks, lines and grids.
  • reference objects can exist as mathematical, virtual, synthetic models in the form of a computational data set and can also be included in the process.
  • a clear code assignment (coding, label, identification number, etc.) of the reference objects or measuring points used can advantageously be carried out in one or more recordings.
  • the acquisition of relatively or incrementally measured data is possible.
  • the 3D coordinate measuring machine itself - including a mechanical movement system - and a possibly existing mechanical object movement system can advantageously be calibrated or recalibrated during the registration. It is also possible to determine unknown positions of the auxiliary objects and reference objects in the room during the procedure. These auxiliary and reference objects measured in position can be used as reference objects just like a formally measured measurement object.
  • uncoded marks, circular rings or stripe structures can advantageously be used as auxiliary or reference objects. Because the process correspondences between the same objects in itself overlapping measuring fields, a clear code assignment (coding / label) of the objects used can take place.
  • Additional measurement data of the measurement system of reference objects, auxiliary objects or measurement objects can also be used during the registration.
  • This can be light intensity data in optical measuring systems (e.g. color, black / white, video images from cameras) or movement data in tactile measuring systems (e.g. deflection angle). Additional data can be assigned to each spatial surface point.
  • the number of reference objects is not restricted.
  • To transform the entire data set into the reference KOS no more than 3 reference objects with a known position are required. There is no prescribed minimum number of measurable reference objects in a single measurement of the 3D CMM.
  • the method can also be used to integrate measurement fields without reference objects.
  • a device is used as a carrier for the reference objects.
  • the device is preferably at least one arbitrarily shaped, 1 D, 2D or 3D reference body.
  • the reference body can have components that can be linear, rod-shaped, flat or spatial. It can also be constructed or assembled from several of these components. 2D or SD object structures can thereby arise as reference bodies, for example line structures, lattice structures, network structures, polyhedron-like structures or other structures.
  • the reference objects can be attached to the reference body or the components. Furthermore, at least one fastening device can be attached to it.
  • a reference body or one or more components is constructed in a suitable manner, for example as a profile body with a changing structure, then this reference body or this component itself can be used as a reference object. the one to which further reference objects can be attached.
  • the reference objects define the reference coordinate system. They can be measured in advance.
  • Measuring adapters or styli can also be used as reference bodies, which can be in a specific position relative to the measuring object or surface structures and to which reference objects can be attached, for example in the form of signal marks, 3D object structures or the like.
  • the reference bodies or components can also be used as test bodies for checking the measurement results and for monitoring the CMM.
  • At least one reference body can be fastened or set up on, in front of or at least in the vicinity of the object by means of one or more fastening devices.
  • the object can then be measured from different directions.
  • FIG. 1 shows a measurement object and a reference body in a schematic side view
  • Fig. 2 shows the reference body in a perspective view
  • Fig. 3 shows a further reference body in a schematic side view.
  • At least one 3D CMM is used, the tactile button 1 or optoelectronic sensor 2 of which touches the object surfaces 5 and the reference objects 4, 6 in a touching or contactless manner.
  • the surface of the measurement object is provided with the reference symbol 5.
  • the measurement object 5 is connected to a reference body 3 which has reference objects 4. Reference objects 6 are applied to the measurement object.
  • the rod-shaped reference body 3 shown in FIG. 2 has various reference and auxiliary objects: measuring marks 12, measuring points 13, raster 14 and SD object structures in the form of truncated pyramids 15.
  • the tactile button 1 or the optoelectronic sensor 2 deliver measurement signals which are generated by the Detach the 3D shape of the measurement object 5.
  • the 3D coordinates of the surface points are calculated from the measurement signal sequences.
  • a device in particular a computer, is used to digitize and store the measurement signal sequences or the SD coordinates, to control the measurement sequence and to process the measurement signals or the 3D coordinates.
  • Sensor 2, button 1 or the 3D CMM or the measurement object can be moved freely in the room by hand or guided by mechanics; if necessary, their position can be measured.
  • the 3D measuring arrangement shown in FIG. 1 consists of a tactile 3D coordinate measuring machine 1 or an optical coordinate measuring machine 2 and a reference body 3 with reference objects 4 and a measuring object 5 with applied reference or auxiliary objects 6.
  • the rod-shaped reference body 3 ′ shown in FIG. 3 consists of components which have a profile-like structure with an octagonal cross section 7.
  • the components themselves can be used as reference objects.
  • Various reference objects are also attached to the profile structures of the components, namely measuring marks 12, measuring points 13 and 3D object structures in the form of spheres 15.
  • the invention creates a method for generating and linking SD data records for the most complete, three-dimensional shape and structure detection of objects (3D reconstruction method), in which individual object areas are measured and then linked with reference to a KOS.
  • the method can be carried out in such a way that on the measurement object and / or outside the measurement object at least temporarily in a fixed position relative to the object reference objects with a known position (position) and / or Known distance in space and / or auxiliary objects with unknown position and unknown distance are present and that parts of the object surface, the reference objects and / or the auxiliary objects are used to register the measured object areas.
  • the reference objects and / or the auxiliary objects can be geometrically regular or irregular.
  • the reference objects and / or auxiliary objects can be given by the structure of the object, for example bores and / or edges or the like. In optical measuring systems, the reference objects and / or auxiliary objects can be given by optical structure projection, for example circular marks, lines and / or grids. It is possible to record relatively and incrementally measured data.
  • the reference objects can exist as mathematical, virtual, synthetic models / data sets and can be used for registration. This also applies to a measured reference or master part. It is possible to use measured auxiliary objects and / or measured measuring objects as reference objects. It is possible to use additional measurement data from the measurement system of reference objects, auxiliary objects and / or measurement objects during registration, for example light intensity data with optical measurement systems (color, black / white, video images from cameras) or movement data with tactile measurement systems (deflection angle) ,
  • the invention also provides a device with which the method according to the invention can be carried out.
  • the device is preferably characterized in that reference objects and / or auxiliary objects are present on the measurement object and / or outside the measurement object at least temporarily in a fixed position relative to the object, and in that at least one mechanical-tactile or optically non-contact 3D coordinate measuring machine measures the Surface coordinates of the measurement object and / or reference object and / or auxiliary object (in different, individual object areas) determined.
  • the advantageous developments explained above for the method can be used.
  • An advantageous development is characterized in that reference objects and / or auxiliary objects are attached and used on at least one arbitrarily shaped reference body.
  • the carrier of the reference body can also be the measurement object itself.
  • the reference body is preferably a 1D, 2D or SD structure. It preferably contains essentially at least one component in line structure or lattice structure, on which auxiliary objects and / or reference objects are attached.
  • a fastening device is preferably attached to the reference body. It is advantageous if at least one such reference body is attached or set up by means of the fastening device on, in front of or at least in the vicinity of the object.
  • the method according to the invention also enables simultaneous checking of the measurement results, in particular with regard to the (local and global) accuracy etc., and thus monitoring of the CMM.
  • the reference object or objects or the reference object can be used as a test object. accordingly speaking, it is possible to check the measurement results, the reference object or objects preferably being used as test specimens.

Abstract

L'invention concerne un procédé permettant de déterminer la forme en trois dimensions d'un objet. Afin d'améliorer un procédé de ce type, plusieurs zones de l'objet (5) sont mesurées. Au cours d'au moins une mesure, au moins un objet de référence (4) est mesuré. Les zones mesurées de l'objet (5) sont combinées mutuellement.
EP01943385A 2000-05-16 2001-05-16 Procede et dispositif pour determiner la forme en trois dimensions d'un objet Ceased EP1285224A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10023845 2000-05-16
DE10023845 2000-05-16
PCT/EP2001/005598 WO2001088471A1 (fr) 2000-05-16 2001-05-16 Procede et dispositif pour determiner la forme en trois dimensions d'un objet

Publications (1)

Publication Number Publication Date
EP1285224A1 true EP1285224A1 (fr) 2003-02-26

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EP01943385A Ceased EP1285224A1 (fr) 2000-05-16 2001-05-16 Procede et dispositif pour determiner la forme en trois dimensions d'un objet

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US (1) US7414732B2 (fr)
EP (1) EP1285224A1 (fr)
JP (1) JP2003533685A (fr)
WO (1) WO2001088471A1 (fr)

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US7414732B2 (en) 2008-08-19

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