EP2433088A1 - Procédé et dispositif pour mesurer les dimensions d'un objet - Google Patents

Procédé et dispositif pour mesurer les dimensions d'un objet

Info

Publication number
EP2433088A1
EP2433088A1 EP10740701A EP10740701A EP2433088A1 EP 2433088 A1 EP2433088 A1 EP 2433088A1 EP 10740701 A EP10740701 A EP 10740701A EP 10740701 A EP10740701 A EP 10740701A EP 2433088 A1 EP2433088 A1 EP 2433088A1
Authority
EP
European Patent Office
Prior art keywords
laser
light
curtain
support surface
beam curtain
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Withdrawn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
EP10740701A
Other languages
German (de)
English (en)
Inventor
Andreas Griesser
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.)
Skyline Parking AG
Original Assignee
Skyline Parking 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 Skyline Parking AG filed Critical Skyline Parking AG
Publication of EP2433088A1 publication Critical patent/EP2433088A1/fr
Withdrawn legal-status Critical Current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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving

Definitions

  • the present invention relates to a method and an apparatus for measuring an object, namely the spatial extent of any three-dimensional body.
  • the invention is illustrated here using the example of surveying the width and maximum height of a vehicle so that it can be parked automatically in a parking garage to save space.
  • EP 1 802 830 A1 where an automatic parking device is presented.
  • no method for particularly efficient, fast and safe surveying is disclosed.
  • a method and a device for measuring such an object as presented here is not only applicable to a vehicle, but can generally be used for any three-dimensional objects, no matter what kind of objects or objects are, thus generally their spatial Extension is determinable, be it length, width or height.
  • the object of this invention is therefore to provide a method and an apparatus for measuring the spatial extent of an object in one direction. It can be the width, length or height at one act on the specific location of the object, or the width, length or height at any point, so that in the case of determining width or length, the lateral course of the imaginary drop shadow of an object on its support surface can be determined. If a height is determined, then the imaginary drop shadow of the object is measured accordingly on a vertical side wall.
  • the object should be a stationary or a movable or moving object.
  • the process should be carried out quickly and safely, and provide the necessary mass with sufficient accuracy, that is, for example, in a vehicle with about 5m length, 2m width and up to 2m height to almost the millimeter accurate at least detect its width over its entire length can.
  • further mass such as the height and length of the object can be determined.
  • the object is achieved by a method as claimed in the independent method claim 1.
  • the object is further achieved with a device as defined in claim 7.
  • Figure 1 A vehicle as an example of an object to be measured, in one
  • Figure 2 The space-optimized parking of vehicles on an annular disc, taking advantage of rounded at the Grundrissecken bodies, seen from above;
  • Figure 3 The space-optimized parking of vehicles on an annular
  • Figure 4 The space-optimized parking of vehicles on an annular
  • Figure 5 The device for contactless, fast and accurate measurement of an object in the form of a vehicle shown in a perspective view.
  • Figure 6 The device for non-contact, fast and accurate measurement of an object seen from the front, consisting of two separate lasers and cameras.
  • FIG. 1 shows the contours of a vehicle as an example of an object to be measured.
  • a vehicle can also be equipped with a roof rack, and then much higher.
  • it may have a non-retractable antenna, or this - if retractable, was not retracted, what should be considered when the vehicle is to be parked in a low space in order to save space even in height.
  • the corners of the body are rounded. This rounding can be even more pronounced in individual models, and it is important to take advantage of these roundings, if the vehicles should be as compact as possible star-shaped parked on an annular platform.
  • the exterior rear-view mirrors must be taken into account for the contour of the floor plan.
  • Figure 2 shows a space-optimized parking vehicles on an annular disc, the curves are exploited at the Grundrissecken the bodies.
  • the vehicle A can be pushed here very close to the already parked on the annular disc vehicle in this past in his parking space, which can be concerned by a central robot, which need not be explained here. Due to the geometry of the floor plans, it can be seen that the vehicle A can be pushed past the vehicle B along its lateral, dashed delineation lines.
  • Figures 3 and 4 show this striking difference.
  • the method presented here makes it possible to determine this data safely and quickly, namely on the moving vehicle by this drives through the measuring device. It is important that the survey be done quickly so that no unnecessary seconds are lost in order to avoid traffic jams in front of an automatic parking garage. If, for example, a customer arrives, it would be bad if he had to wait a few seconds in the car until it was finally measured, and he could then hand over the car. However, with the method shown here, the customer can drive in front of the robot and during this approach his car will already be finished. The customer can immediately get out after the stop and move away from the vehicle, so that it can be taken over immediately by the robot.
  • the method is based on a measurement of a laser light line on the support surface on which the object to be measured is.
  • a laser light line is used on the ground, which is incident on the ground by a laser which radiates vertically downwards over the vehicle and is reflected there and is then detected by a camera.
  • the camera always only sees the laser light line that does not hit the vehicle, and thus recognizes all points that do not belong to the filled contour of the vehicle on the ground, ie all points that lie on the ground outside the drop shadow of the vehicle.
  • This process-specific feature namely that in principle only the complementary parts of the laser light line, which thus do not impinge on the object, are detected on the support surface, allows the object not necessarily to be irradiated over its entire width with laser radiating downwards, but this "light curtain" only has to overlap or overshadow the side edges of the object at all times.
  • the image of the camera, which receives the laser light line on the support surface must not be evaluated in its entirety, but only straight The narrow area of the image in which the laser light line falls must be evaluated, which saves a lot of computing power and speeds up the evaluation.Of course, it must be ensured that the object to be measured does not get into the blind area between the measuring systems the s that no vehicle may be so narrow that it gets outside one of the light curtains.
  • the entire device here has a measuring path 17 along which an object 1 to be measured can be moved.
  • this object 1 is a vehicle that can drive over the measuring track 17 on its own.
  • this object 1 is a vehicle that can drive over the measuring track 17 on its own.
  • This movement can be done on rollers, sliding or floating on rails or on the measuring track 17.
  • the measurement is to determine the dimension of the object 1 in order to be able to store the same space-saving somewhere later. For this, the maximum length, the maximum width, the maximum height and the contour of the drop shadow of the object must be determined.
  • the side of the vehicle body superior rearview mirror must be considered. If these were not taken into account, but only the bare vehicle body, they would inevitably be broken in the later automatic robot-driven juxtaposition of the vehicles.
  • the vehicles do not have an exactly rectangular floor plan, but this floor plan has rounded corners, and in particular the front of the vehicles is usually designed slightly arrow-shaped.
  • a laser 2 with a telecentric lens or with a Fresnel lens 3 is arranged above the measuring track 17.
  • a parabolic mirror instead of a lens can be used.
  • a Fresnel lens is a classic converging lens (or diverging lens) whose curvature along the longitudinal extent is subdivided into small segments and imaged on a substrate.
  • This carrier material may be glass or Plexiglas.
  • the imaging accuracy is determined by the fineness of the subdivision (for example, 1 to 10 grooves per mm).
  • a quasi-telecentric image is achieved by a normal camera together with upstream lens is installed together with a large Fresnel lens as a unit.
  • the laser is used together with the lens to produce a perpendicular or orthogonal incident on the ground, transverse to the measuring path 17 extending laser beam "curtain" 4.
  • This beam curtain 4 meet either on the vehicle 1 or laterally from the same on the ground, that is, on the measuring path 17, and they produce there Laser light line 5. The vehicle is driven completely through this laser curtain 4.
  • any three-dimensional object can be irradiated in this way on a support surface with a laser curtain oriented orthogonal to this support surface, even if this support surface is not is horizontal, but is an inclined plane, or the object is held by any force on a ceiling or on a vertical wall
  • the light curtain overlaps the side edge areas of the object, while in the central area of the object
  • the laser light line on the contact surface is then detected by a camera
  • the laser light line 5 is detected on the ground ie the camera 6 detects only the laser light line 5 on the ground, ie on the measuring track 17, but disregards those on the vehicle itself, the camera 6 is slightly offset in the longitudinal direction of the measuring track 17 from the laser 2, which generates the orthogonal laser light curtain.
  • the camera 6 looks through its own telecentric lens or a Fresnel lens 7, which is focused on the laser light line 5 on the ground, and only on those -.
  • a parabolic mirror can be used so that the camera 6 looks over the parabolic mirror on the laser light line 5.
  • This beam curtain is at an angle of a few degrees - for example, about 5 ° - or more or less inclined to the vertical, depending on the circumstances, as shown.
  • This offset relative to the laser 2 arranged camera 6 causes the laser light line which impinges on the vehicle is reflected at a certain height above the ground on the vehicle. At this height, however, the beam path of the lens 7 or of the parabolic mirror of the camera already looks past the laser light line and does not recognize it.
  • the "sight gap" 8 of the camera is shown here on the front hood of the vehicle 1. It is located opposite the reflected laser light line 5 on the camera Hood pushed forward. Therefore, the camera does not see the laser light line on the front hood. Thus, as soon as the light beams of such a laser light curtain impinge on any object to be measured, they are not detected by the slightly offset from the orthogonal laser light curtain camera, which looks at an acute angle to the incident laser light line.
  • the camera is focused solely on the laser light line, which impinges on the support surface next to the object.
  • This method can be applied to a stationary object to determine the width, length or height at a particular location, or it can be combined with the measuring device. that is, with the laser and its lens and the associated camera are driven lengthwise over the object to be measured, or the object is moved through the measuring device.
  • the effective angle to be used on a case by case basis between the camera curtain and the laser curtain is given by the respective task. The smaller this angle, the harder it becomes to see a change in the picture. In extreme cases, both light curtains are in the same plane, which would make it impossible to detect an object, since (depending on the surface texture) virtually every light is reflected and thus no change in the image is recognizable.
  • the detection data of the camera are detected in the example as shown in Figure 5 by a microprocessor against the current time and thus define over time linearly to the time changing laser light lines on the ground.
  • the time-dependent speed of the object In order to be able to calculate an effective object outline contour from the data obtained, the time-dependent speed of the object must be known. In the example of a car shown, it must be measured when driving through the beam curtain. It may be that the car is slowed or accelerated during the passage, or even stopped completely, or even rolls backwards a bit. All this must be taken into account.
  • the device includes additional suitable means to accurately measure this speed over the elapsed time and to create a path-time diagram.
  • a variant of this is presented here, which is suitable for cars. Namely, it turns out that the rims 15 of the cars show better light reflection than the tires 15 mounted on the rims, which absorb the light almost completely due to their dark color. Therefore, two cameras 14 are installed here approximately at the height of the wheel centers on the side of the measuring track 17, with a distance of about 2 m to 3 m horizontally. At the same time a light bar 16 is installed along the measuring track 17 at a similar height, which preferably emits blue light on the car side. The reflected light is detected and stored by the cameras 14 against time. By means of image processing software, the centers of the round, bright detected spots corresponding to the rims 15 can be calculated exactly in the recorded image.
  • a true object-side telecentric lens is used instead of a Fresnel lens, then accuracies of up to 50 ⁇ m can be achieved.
  • a Fresnel lens with a cut of approx. 8 grooves per millimeter and a camera with approx. 1000 pixels in the width direction is used. Therefore, the accuracy of about 1 mm with a width of 1m is achieved.
  • the vehicle height For their determination, the same technology could be used. For the purposes shown here, however, it is not necessary to determine the visible from the side vehicle contour. It suffices to measure the maximum height of the vehicle, whether determined by the vehicle itself, by any structure or cargo, by an antenna or anything else protruding upward, such as a fishing rod carried in a convertible, or skis or Bicycles that are attached to the rear of the vehicle projecting upwards and are carried along.
  • a number of side of the laser beam curtain 4 existing light sources 9 is used to form a series of horizontal, discrete superimposed light beams which extend parallel to the plane of the laser beam curtain on the opposite side of the laser beam curtain 4, but with by 90 ° to the same twisted horizontal light rays.
  • a similar series of superimposed light sensors 11 for detecting the horizontally incident light beams on the opposite side of the measuring path 17 is present, and a computer unit for determining the lowest undisturbed light beam 13 of the light barrier 10th This is sufficient to reliably determine the maximum height of the object or vehicle 1 during its passage of the measuring track 17.
  • the measuring track 17, if it is to be designed for the measurement of passenger cars, then measures at least 2.20m in width, has a length of at least 5.50m and a clear height to the lowest position of the telescopic lens above the road of at least 2.20 m up. If there are parking spaces for extra-long vehicles in the corner areas of a parking garage with an angular floor plan, the measuring track 17 must be designed to be long enough, for example up to 8.00m long. It is also important for the use of the method that the laser 2 used is absolutely safe for the health of the vehicle occupants. Even if these inmates would look directly into the laser light curtain for a long time, their eyes would not be damaged. There are corresponding safety standards for calculating the maximum permissible laser light power. After that, a maximum of 1mW light output is allowed, based on a single light spot with 1mm 2 area. As the total area 2m. x 1mm results in a total light output of 2W.
  • the method for non-contact, fast and accurate measurement of an object 1 with this device is then as follows:
  • the laser 2 is first by means of the telecentric lens, a Fresnel lens 3 or a parabolic mirror in an orthogonal to a bearing surface directed beam curtain 4 converted. This is wider than the largest width of the object to be measured 1, and the incident laser light line 5 is detected on both sides of the object with the optical camera 6.
  • the object 1 remains stationary or the object 1 moves at a known speed through the radiation curtain.
  • the entire measuring device can travel lengthwise over a stationary object.
  • the camera 6 is outside of the Beam curtain 4 arranged in a rigid position to the laser 2, and sees through a telecentric lens, a Fresnel lens 7 or a parabolic mirror.
  • the data thus obtained make it possible to calculate the bottom contour of the object 1.
  • the height of the object or vehicle is determined by a number of light sources 9 a series of horizontal discretely superimposed light beams to form a light barrier 10 parallel to the plane of the laser beam curtain, but at right angles to its laser beams extending to the opposite side of the laser beam curtain 4th sends and the light beams of this light barrier 10 are detected there by a similar series of superimposed light sensors 11.
  • a path-time diagram of the object 1 is recorded. The recorded data is evaluated with the help of a computer. Only those areas of the reflected laser light line 5 over the time of their recording are applied on a plane which in each case run in the same position as detected before passing through the object by the radiation curtain.
  • the lowermost undisturbed light beam 13 of the light barrier 10 is determined as a function of the traveled path of the object 1.
  • ground contour of the object 1 corresponds to the vertical shadow of the object 1 on its support surface and its maximum determined height due to the lowest undisturbed light beam 13 of the light barrier 10 serves as a measure of its space requirement on a support level with height limit.
  • the path-time diagram of the passing object is determined, for example, by two natural or to be attached, light-reflecting regions 15 are irradiated on the side of the object 1 by means of a light source 16 and by means of two horizontally offset optical cameras 14 overlapping the reflected Light is detected.
  • the centers of the recorded, light-reflecting regions 15 are determined by calculation. Afterwards, their positions are calculated and subsumed by a triangulation of the centers Taking into account the time that elapses, determine their movement and create a path-time diagram.
  • FIG. 6 shows an application which is suitable for particularly wide objects.
  • two lasers 2,2 'and two cameras 6,6' are used.
  • Laser light line 5 which impinges on the support surface, is detected, ie the reflection line of the laser light curtain on the object complementary part of the reflected light, namely the outside of the object reflected from the support surface light.
  • the measurement method shown is particularly robust because it is independent of the object, that is, it is detected only the reflected light on the support surface. It is especially suitable for objects that are wider, longer or higher than 20cm.
  • the method makes it possible to measure the extent of an object, be it the width, length or height at a certain point or at a specific time.
  • the object may be stationary or move or be moved. In a stationary object, the entire measuring device can be moved along the object.
  • the accuracy of the method is essentially dependent on the resolution of the camera used. At a resolution of 1000 pixels per meter results in 1mm per pixel and thus a corresponding measurement accuracy.
  • telecentric lenses can be used, for cost and practical reasons, Fresnel lenses are more suitable for spatial extension of more than about 20cm.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un dispositif constitué d'une piste de mesure (17) permettant le déplacement de l'objet (1), et d'un laser (2) doté d'une lentille télécentrique/de Fresnel (3) pour produire un rideau optique (4) vertical s'étendant transversalement à la piste de mesure (17). Une caméra (6) est en outre décalée par rapport au laser (2) dans la direction longitudinale de la piste de mesure (17), la lentille télécentrique/de Fresnel (7) étant également avancée. Avec cette caméra, on détecte tous les points lumineux, réfléchis sans interférences sur le fond de la piste de mesure (17), de la ligne de lumière laser (5) frappant à cet endroit selon un angle aigu par rapport au rideau optique (4). Il existe d'autres moyens pour détecter et relever la vitesse de l'objet (1) traversant le rideau optique (4) en se déplaçant sur la piste de mesure (17), afin de pouvoir obtenir un diagramme temps-distance. A partir des données ainsi obtenues, on détermine le contour au sol de l'objet, c'est-à-dire son ombre générée au sol par la lumière tombant verticalement. On détermine en outre la haute maximale de l'objet au moyen d'un système de barrière photoélectrique.
EP10740701A 2009-05-18 2010-05-31 Procédé et dispositif pour mesurer les dimensions d'un objet Withdrawn EP2433088A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH00776/09A CH701106B1 (de) 2009-05-18 2009-05-18 Verfahren und Vorrichtung zum Vermessen der räumlichen Ausdehnung eines Objektes.
PCT/IB2010/001340 WO2010133966A1 (fr) 2009-05-18 2010-05-31 Procédé et dispositif pour mesurer les dimensions d'un objet

Publications (1)

Publication Number Publication Date
EP2433088A1 true EP2433088A1 (fr) 2012-03-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP10740701A Withdrawn EP2433088A1 (fr) 2009-05-18 2010-05-31 Procédé et dispositif pour mesurer les dimensions d'un objet

Country Status (5)

Country Link
US (1) US20120113437A1 (fr)
EP (1) EP2433088A1 (fr)
JP (1) JP2013527423A (fr)
CH (1) CH701106B1 (fr)
WO (1) WO2010133966A1 (fr)

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DE102012005966B4 (de) * 2012-03-23 2022-06-09 S.E.A. - Science & Engineering Applications Datentechnik GmbH Vorrichtung und Verfahren zur Erzeugung einer flächenhaften Darstellung eines dreidimensionalen Körpers sowie Beleuchtungseinrichtung dazu
PL2767964T3 (pl) * 2013-02-14 2015-05-29 Kapsch Trafficcom Ag Urządzenie do pomiaru pojazdu
DK2804013T3 (en) * 2013-05-13 2015-07-06 Kapsch Trafficcom Ag Device for measuring the position of a vehicle or a surface thereof
CN103983196A (zh) * 2014-05-12 2014-08-13 天津大学 基于面阵/线阵相机的车辆高度尺寸在线测量方法
DE102015201317A1 (de) 2015-01-27 2016-07-28 Bayerische Motoren Werke Aktiengesellschaft Vermessen einer Abmessung auf einer Oberfläche
DE102015006072A1 (de) * 2015-05-09 2016-11-10 Arkadiy Zolotarov Warneinrichtung
EP4268757A3 (fr) * 2017-10-06 2023-12-06 Advanced Scanners, Inc. Génération d'un ou de plusieurs bords de luminosité pour former des modèles tridimensionnels d'objets
CN108955561B (zh) * 2018-05-23 2020-11-17 西安理工大学 一种用于测量无砟轨道板表面轮廓的装置
KR102137542B1 (ko) * 2018-11-23 2020-07-27 주식회사 지팬스스마트로 화물 스캐닝 시스템 및 방법
CN110470232A (zh) * 2019-09-04 2019-11-19 合肥市极点科技有限公司 一种测量高度差的方法、装置、测量系统及电子设备
DE102020109520A1 (de) * 2020-04-06 2021-10-07 Wente/Thiedig GmbH Optische Messeinrichtung und Verfahren zur Ermittlung der dreidimensionalen Form eines Objektes
CN113418447B (zh) * 2021-06-21 2023-08-08 深圳市汤古科技有限公司 基于测量光幕的铝模板参数识别方法、装置、电子设备及介质

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Also Published As

Publication number Publication date
WO2010133966A4 (fr) 2011-01-20
WO2010133966A1 (fr) 2010-11-25
CH701106B1 (de) 2013-08-15
CH701106A2 (de) 2010-11-30
US20120113437A1 (en) 2012-05-10
JP2013527423A (ja) 2013-06-27

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