EP2193331A1 - Procédé et système de détection permettant de mesurer des caractéristiques optiques - Google Patents

Procédé et système de détection permettant de mesurer des caractéristiques optiques

Info

Publication number
EP2193331A1
EP2193331A1 EP08804728A EP08804728A EP2193331A1 EP 2193331 A1 EP2193331 A1 EP 2193331A1 EP 08804728 A EP08804728 A EP 08804728A EP 08804728 A EP08804728 A EP 08804728A EP 2193331 A1 EP2193331 A1 EP 2193331A1
Authority
EP
European Patent Office
Prior art keywords
coordinate system
measurement data
crane
ground
direction vector
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Withdrawn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
EP08804728A
Other languages
German (de)
English (en)
Inventor
Wendelin Feiten
Cäsar KLIMOWICZ
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP2193331A1 publication Critical patent/EP2193331A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Definitions

  • a sensor assembly for example mounted on a crane, is used to measure (or estimate) the position and attitude of moving objects, such as the crane itself or a cargo, e.g. a container.
  • Other uses include the measurement of the position and position of a vehicle or a movable component of the crane itself into consideration.
  • An execution of a loading crane is a gantry crane. This spans a loading and working area like a portal. As a rule, its side walls run with wheels on two parallel rails. On the crane bridge, the horizontal part of the gantry crane, a trolley moves with a hoist.
  • a rail slewing crane can be mounted on the crane bridge.
  • a loading crane a gantry crane, a gantry crane, a gantry crane and a gantry crane are also suitable.
  • Moving parts of a crane are z.
  • the trolley or the spreader - a hoist with which containers can be grabbed.
  • the sensor arrangement may for example be composed of one or more of the following elements: a
  • 3D laser scanner a tiltable 2D laser scanner or a video camera.
  • the elements of the sensor arrangement are usually mounted in such a way in the structure of the crane that - in the case of a gantry crane - several tracks for trucks or railroad railroad tracks are covered.
  • the camera coordinate system of one or more cameras provided that they are installed in the frame of the sensor arrangement,
  • Calibration is achieved in the prior art, for example, by placing a calibrating body specially prepared and prepared for this purpose on the ground in the area of the crane and measuring it manually with respect to the crane or the crane coordinate system by a surveying engineer.
  • lanes can be measured manually in relation to the crane or to the calibration body.
  • the sensor arrangement subsequently detects the calibration element, from which coordinate transformations between the sensor coordinate system and the other coordinate systems can be obtained.
  • the disadvantage here is that the ongoing operation of the crane for calibration longer time must be interrupted.
  • the sensor arrangement for measuring optical features comprises a laser scanner, which is set up to determine remission values. Furthermore, the sensor arrangement comprises a computing unit, which is set up to extract the optical features from the remission values.
  • Today's laser scanners provide, in addition to distance values, also measurements of the reflected-back energy, depending on the operating mode, to a certain extent a gray value.
  • the gray value is called the remission value.
  • the method and the sensor arrangement make it possible, in addition to the distance values, which are determined by the sensor arrangement, to also use the remission values, which are determined by the laser scanner contained in the sensor arrangement. This makes it possible to dispense with the installation of a video camera.
  • a further advantage is that the extracted optical features are present directly in the sensor coordinate system of the sensor arrangement.
  • the method and the sensor arrangement use the remission values of the laser scanner to produce a complete gray value image of a section of an environment.
  • a grayscale image is in principle comparable to the image of a video camera.
  • optical features are recognizable in the gray scale image. Therefore, the extraction of the optical features from the remission values can be done with classical methods of image processing.
  • the optical features are track markers, they are determined directly in the sensor coordinate system of the sensor arrangement. This eliminates manual surveys of the lanes as well as a determination of a coordinate transformation between a ground coordinate system and the sensor coordinate system. Rather, the coordinate transformations between the coordinate systems used are automatically determined without manual measurement. This is more accurate and reduces the effort of installing and connecting the sensor assembly.
  • the sensor arrangement is set up in an embodiment for mounting on an object. Furthermore, it has an arithmetic unit, which is set up for the identification of soil measurement data for parts of a soil under the object as well as object measurement data for parts of the object in distance measurement data of the laser scanner.
  • the arithmetic unit is further configured to determine a ground coordinate system from the ground measurement data using the object measurement data, to calculate a coordinate transformation between a sensor coordinate system of the sensor array and the ground coordinate system, and to calibrate the sensor array based on the coordinate transformation.
  • the object is a crane, in particular a loading crane, gantry crane, bridge crane, semi-portal crane, gantry crane or portal crane, or any movable or static object on which the sensor arrangement can be mounted.
  • a gantry crane offers the advantage that its pronounced symmetry properties can be used.
  • the parts of the object are side walls of a gantry crane. This offers the advantage that the orientation of these side walls can be used to determine the object coordinate system.
  • FIG. 2 shows distance measurement data of the sensor arrangement
  • FIG. 3 shows a crane coordinate system, a sensor coordinate system and a ground coordinate system
  • Figure 4 is a flowchart for calibration.
  • Figure 1 shows a crane 10.
  • a sensor assembly 11 On the crane 10, a sensor assembly 11 is mounted, which consists of two elements in the case shown in Figure 1.
  • a cargo 12 such as a container on a truck, which is detected by the sensor assembly 11.
  • a floor 15 under the crane 10 is inclined, so that water can flow away.
  • lane markers 13 are attached, which mark tracks for vehicles.
  • FIG. 2 shows measurement data of the sensor arrangement 11, in this case distance measurement data of a laser scanner.
  • ground measurement data 21 of parts of the floor 15 under the crane 10 and crane measurement data 22 of parts of the crane 10 can be identified. This allows a geometric measurement of the crane and its working space.
  • the crane measurement data 22 are here rectangles in 3D out-segmented side walls of the crane 10.
  • the ground measurement data 21 are accordingly out-segmented ground points. Of these, only a subset may need to be used to achieve sufficient accuracy; This saves computing time and storage requirements.
  • FIG. 3 again shows the crane 10, its wheels 14, the sensor arrangement 11 and the floor 15 and the lane markings 13.
  • a ground coordinate system 16, a crane coordinate system 17 and a sensor coordinate system 18 of the sensor arrangement 11 are additionally shown.
  • a third step 3 the crane measurement data 22 are used to determine a ground coordinate system 16 from the ground measurement data 21.
  • a coordinate transformation between a sensor coordinate system 18 of the sensor arrangement and the ground coordinate system 16 is calculated, by means of which the sensor arrangement 11 is calibrated.
  • the method for calibrating the sensor arrangement 11 uses symmetries, such as flat symmetries or translation symmetries in three-dimensional space.
  • symmetries such as flat symmetries or translation symmetries in three-dimensional space.
  • the crane 10 on - especially in the design as a gantry crane.
  • the symmetries are extracted from the crane measurement data 22 and possibly the ground measurement data 21. This is based on the knowledge that a surface of 3D measurement points represented by the crane measurement data 22 has a normal vector which can be used as the y direction vector of the crane coordinate system 17. Furthermore, it is possible to make use of the fact that a surface of 3D measurement points represented by the ground measurement data 21 has a normal vector which can be selected as the z direction vector of the ground coordinate system 16.
  • the x-direction vector of the ground coordinate system 16 can be selected to be identical to the x-direction vector of the crane coordinate system 17.
  • This x-direction vector is both parallel to the ground 15 and parallel to a surface represented by the crane measurement data 22. This becomes clear with the example of the gantry crane. As it travels on rails, they run parallel to the ground as well as parallel to the inner walls of the gantry crane. The x-direction vector of both the ground coordinate system 16 and the crane coordinate system 17 can thus be selected parallel to the rails.
  • the x-direction vector is perpendicular both to the normal vector of the area of SD measurement points represented by the ground measurement data 21 and to the normal vector of the area of 3D measurement points represented by the crane measurement data 22.
  • these coordinate systems can be successively developed.
  • the algorithm calculates the crane coordinate system 17, which is used for the derivation of the ground coordinate system 16.
  • 3D measurement points are identified as crane measurement data that belong to the sidewall (the so-called "sill bar"), on the one hand 3D measurement points belonging to the seaward side wall and, on the other hand, 3D measurement points that belong to the landside side wall.
  • the sidewall the so-called "sill bar”
  • 3D measurement points belonging to the seaward side wall the 3D measurement points belonging to the seaward side wall
  • 3D measurement points that belong to the landside side wall 3D measurement points that belong to the landside side wall.
  • any other characterization of the two sides of the gantry crane can be chosen.
  • the x direction vector of both the ground coordinate system 16 and the crane coordinate system 17 is obtained from the cross product of the y direction vector of the crane coordinate system 17 and the z direction vector of the ground coordinate system 16.
  • the z direction vector of the crane coordinate system is calculated from the cross product of the x direction vector and the y direction vector of the crane coordinate system 17. Accordingly, the y-direction vector of the ground coordinate system 16 results from the cross product of the z-direction vector and the x-direction vector of the ground coordinate system 16.
  • their expansion in the x-direction is also determined as minimum and maximum.
  • the crane coordinate system 17 is shifted in its x-direction so that its origin lies in the middle between the determined minimum and maximum.
  • the crane coordinate system 17 is completely determined.
  • the center of gravity of the 3D measurement points in the ground measurement data 21 is first determined. Subsequently, the z-axis of the crane coordinate system 17 is cut with the plane formed by the 3D measurement points in the ground measurement data 21. The intersection chosen as the origin of the ground coordinate system 16. Now lanes under the crane 10 can be manually measured between tracks on which the wheels 14 of the crane 10 run. The position of the center between the tracks relative to the sensor arrangement 11 results from the previously determined coordinate systems.
  • the coordinate values of the 3D measurement points are mapped onto a suitable grid which, for example, is selected axis-parallel to the x-direction vector and y-direction vector of the ground coordinate system 16.
  • a suitable grid which, for example, is selected axis-parallel to the x-direction vector and y-direction vector of the ground coordinate system 16.
  • suitable filters are, for example, mean, median or similar filters.
  • the lanes are automatically determined from the simultaneously determined Determined 3D distance readings and remission values of the laser scanner.
  • the process becomes very robust and accurate. A disturbance of the ongoing operation of the loading crane system when connecting the sensor assembly 11 is largely avoided.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Les valeurs de réflectance d'un lecteur laser sont utilisées pour détecter des caractéristiques détectables uniquement par voie optique, telles que des marquages au sol (13) délimitant des voies de circulation en dessous d'un système de grue de chargement (10). L'étalonnage du système de détection est simplifié et une mesure manuelle des voies de circulation par rapport au système de coordonnées dudit système de détection n'est plus nécessaire, ce qui permet d'installer un système de détection (11) sur une grue de chargement, sans grande complexité et sans trop perturber le fonctionnement en cours.
EP08804728A 2007-09-27 2008-09-25 Procédé et système de détection permettant de mesurer des caractéristiques optiques Withdrawn EP2193331A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007046288A DE102007046288B4 (de) 2007-09-27 2007-09-27 Verfahren und Sensoranordnung zur Vermessung optischer Merkmale
PCT/EP2008/062830 WO2009043788A1 (fr) 2007-09-27 2008-09-25 Procédé et système de détection permettant de mesurer des caractéristiques optiques

Publications (1)

Publication Number Publication Date
EP2193331A1 true EP2193331A1 (fr) 2010-06-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP08804728A Withdrawn EP2193331A1 (fr) 2007-09-27 2008-09-25 Procédé et système de détection permettant de mesurer des caractéristiques optiques

Country Status (3)

Country Link
EP (1) EP2193331A1 (fr)
DE (1) DE102007046288B4 (fr)
WO (1) WO2009043788A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112011100910A5 (de) 2010-03-17 2013-02-28 Peter Kronseder Vorrichtung zur Auswertung der Schutzklassenprufung ballistischer Schutzwesten bzw. ballistischer Schutzhelme
US9261881B1 (en) * 2013-08-01 2016-02-16 Google Inc. Filtering noisy/high-intensity regions in laser-based lane marker detection
CN110530261A (zh) * 2019-08-28 2019-12-03 天津理工大学 一种基于二维激光扫描的工业零件质量检测装置

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
US5484990A (en) * 1993-12-15 1996-01-16 Ncr Corporation Information Solutions Company Multiple depth of field laser optical scanner
DE19604075C2 (de) * 1996-02-05 1998-02-19 F & O Electronic Systems Vorrichtung zur Inspektion der Oberfläche von Holz zwecks Feststellung von Oberflächenmerkmalen und Verfahren hierzu
DE19855478B4 (de) * 1998-12-01 2006-01-12 Steinbichler Optotechnik Gmbh Verfahren und Vorrichtung zur optischen Erfassung einer Kontrastlinie
DE10251910B4 (de) * 2002-11-07 2013-03-14 Siemens Aktiengesellschaft Containerkran
DE102004003850A1 (de) * 2004-01-26 2005-08-18 Ibeo Automobile Sensor Gmbh Verfahren zur Erkennung von Markierungen auf einer Fahrbahn

Non-Patent Citations (1)

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Title
See references of WO2009043788A1 *

Also Published As

Publication number Publication date
DE102007046288B4 (de) 2010-04-15
DE102007046288A1 (de) 2009-04-09
WO2009043788A1 (fr) 2009-04-09

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