KR101568444B1 - 부품 포즈를 나타내는 점 데이터에 3차원 모델을 정합시키기 위한 시스템, 프로그램물, 및 관계된 방법들 - Google Patents

부품 포즈를 나타내는 점 데이터에 3차원 모델을 정합시키기 위한 시스템, 프로그램물, 및 관계된 방법들 Download PDF

Info

Publication number
KR101568444B1
KR101568444B1 KR1020107022507A KR20107022507A KR101568444B1 KR 101568444 B1 KR101568444 B1 KR 101568444B1 KR 1020107022507 A KR1020107022507 A KR 1020107022507A KR 20107022507 A KR20107022507 A KR 20107022507A KR 101568444 B1 KR101568444 B1 KR 101568444B1
Authority
KR
South Korea
Prior art keywords
points
data
dimensional model
range data
laser
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.)
Active
Application number
KR1020107022507A
Other languages
English (en)
Korean (ko)
Other versions
KR20110005693A (ko
Inventor
제임스 밀러
웨슬리 터너
윌리엄 로렌슨
Original Assignee
록히드 마틴 코포레이션
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 록히드 마틴 코포레이션 filed Critical 록히드 마틴 코포레이션
Publication of KR20110005693A publication Critical patent/KR20110005693A/ko
Application granted granted Critical
Publication of KR101568444B1 publication Critical patent/KR101568444B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/20—Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/24—Probes
    • G01N29/2418—Probes using optoacoustic interaction with the material, e.g. laser radiation, photoacoustics
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
    • G01N29/0654—Imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/24—Probes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/30—Arrangements for calibrating or comparing, e.g. with standard objects

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Chemical & Material Sciences (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Optics & Photonics (AREA)
  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Computer Graphics (AREA)
  • Architecture (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Image Processing (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
KR1020107022507A 2008-03-28 2009-03-26 부품 포즈를 나타내는 점 데이터에 3차원 모델을 정합시키기 위한 시스템, 프로그램물, 및 관계된 방법들 Active KR101568444B1 (ko)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US4041508P 2008-03-28 2008-03-28
US61/040,415 2008-03-28
US12/202,016 US7865316B2 (en) 2008-03-28 2008-08-29 System, program product, and related methods for registering three-dimensional models to point data representing the pose of a part
US12/202,016 2008-08-29

Publications (2)

Publication Number Publication Date
KR20110005693A KR20110005693A (ko) 2011-01-18
KR101568444B1 true KR101568444B1 (ko) 2015-11-11

Family

ID=40940251

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020107022507A Active KR101568444B1 (ko) 2008-03-28 2009-03-26 부품 포즈를 나타내는 점 데이터에 3차원 모델을 정합시키기 위한 시스템, 프로그램물, 및 관계된 방법들

Country Status (11)

Country Link
US (1) US7865316B2 (https=)
EP (1) EP2257797B1 (https=)
JP (1) JP5491493B2 (https=)
KR (1) KR101568444B1 (https=)
CN (1) CN102016565B (https=)
AU (1) AU2009228317B2 (https=)
BR (1) BRPI0909261B1 (https=)
CA (1) CA2719248C (https=)
IL (1) IL208301A (https=)
TW (1) TWI567690B (https=)
WO (1) WO2009120813A1 (https=)

Families Citing this family (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8000831B2 (en) * 2008-03-21 2011-08-16 Alltec Angewandte Laserlicht Technologie Gmbh Multi model registration (MMR) for a galvanometer and laser system
US20090287427A1 (en) * 2008-05-16 2009-11-19 Lockheed Martin Corporation Vision system and method for mapping of ultrasonic data into cad space
US8205500B2 (en) * 2008-11-25 2012-06-26 General Electric Company Systems and methods for inspecting an object using ultrasound
US8917320B2 (en) 2009-03-04 2014-12-23 VISIONx INC. Digital optical comparator
US8521480B2 (en) * 2009-03-12 2013-08-27 Etegent Technologies, Ltd. Managing non-destructive evaluation data
US8108168B2 (en) 2009-03-12 2012-01-31 Etegent Technologies, Ltd. Managing non-destructive evaluation data
JP5346863B2 (ja) * 2010-03-30 2013-11-20 大日本スクリーン製造株式会社 ３次元位置・姿勢認識装置およびそれを用いたシステム、方法、プログラム
JP2013545096A (ja) * 2010-10-25 2013-12-19 ロッキード マーティン コーポレイション 水中構造物に対する水中航走体の位置および向きの推定
BR112013010122A2 (pt) * 2010-10-25 2018-07-24 Lockheed Corp detecção de alterações estruturais para estrururas subaquáticas
JP5916052B2 (ja) * 2011-06-08 2016-05-11 株式会社ミツトヨ 位置合わせ方法
US9250213B1 (en) 2011-06-14 2016-02-02 The Boeing Company Ultrasound inspection system for inspecting a test object with non-planar features
US9383342B1 (en) 2012-06-19 2016-07-05 The Boeing Company Ultrasound inspection system for inspecting a test object with non-planar features
US8833169B2 (en) * 2011-12-09 2014-09-16 General Electric Company System and method for inspection of a part with dual multi-axis robotic devices
CN103186789B (zh) * 2011-12-27 2016-09-07 英业达股份有限公司 自动判别零件正确性的方法
CN103049596B (zh) * 2012-11-15 2015-10-28 四川达宇特种车辆制造厂 一种提高叶轮零件逆向工程精度的方法
DE102012221782A1 (de) * 2012-11-28 2014-05-28 Lufthansa Technik Ag Verfahren und Vorrichtung zur Reparatur eines Flugzeug- und/oder Gasturbinen-Bauteils
US10162796B2 (en) * 2012-12-31 2018-12-25 General Electric Company Inspection systems and methods
US11543811B2 (en) 2013-03-15 2023-01-03 Etegent Technologies Ltd. Manufacture modeling and monitoring
US9864366B2 (en) 2013-03-15 2018-01-09 Etegent Technologies Ltd. Manufacture modeling and monitoring
US20160239584A1 (en) * 2013-03-18 2016-08-18 Tribase Systems, Inc. Total quality management system and method for annotating and visualizing defects in manufactured parts
TWI505120B (zh) * 2014-12-10 2015-10-21 Inventec Corp 三維模型零件比對系統及其方法
CN104913876B (zh) * 2015-06-23 2017-10-03 中车青岛四方机车车辆股份有限公司 基于超声波法的铝合金车体残余应力测量零应力试块的制作装置及方法
US10345272B2 (en) * 2015-07-13 2019-07-09 The Boeing Company Automated calibration of non-destructive testing equipment
US9689844B2 (en) * 2015-07-27 2017-06-27 The Boeing Company Ultrasonic inspection using flexible two-dimensional array applied on surface of article
US11176286B2 (en) * 2015-09-09 2021-11-16 Xerox Corporation System and method for internal structural defect analysis using three-dimensional sensor data
US9835440B2 (en) * 2015-12-17 2017-12-05 General Electric Company Methods for monitoring turbine components
CN105842340A (zh) * 2016-05-03 2016-08-10 深圳市发利构件机械技术服务有限公司 油轮锚链无损检测装置及其检测方法
GB2550117A (en) 2016-05-04 2017-11-15 E M & I (Maritime) Ltd Inspection method
JP6638810B2 (ja) * 2016-06-21 2020-01-29 株式会社島津製作所 欠陥検査装置及び方法
CN106203480B (zh) * 2016-06-29 2019-06-04 华侨大学 基于缺损数据的非线性特征提取和分类方法
FR3055446A1 (fr) * 2016-09-01 2018-03-02 Arjo Solutions Procede et syteme de generation de la signature d'une surface
US11255825B2 (en) * 2016-10-31 2022-02-22 The Boeing Company Wrinkle characterization and performance prediction for composite structures
GB2558605B8 (en) * 2017-01-09 2022-02-23 Caresoft Global Holdings Ltd Methodology to extract 3D CAD from CT Scan Output
US11287507B2 (en) * 2018-04-30 2022-03-29 The Boeing Company System and method for testing a structure using laser ultrasound
US10527712B2 (en) 2018-05-16 2020-01-07 Trustees Of Boston University Ray-surface positioning systems and methods
US10883823B2 (en) * 2018-10-18 2021-01-05 Cyberoptics Corporation Three-dimensional sensor with counterposed channels
CN109490896B (zh) * 2018-11-15 2023-05-05 大连海事大学 一种极端环境三维图像采集处理系统
CN109520418B (zh) * 2018-11-27 2021-03-30 华南农业大学 一种基于二维激光扫描仪的托盘位姿识别方法
EP3734267A1 (en) 2019-05-01 2020-11-04 Northrop Grumman Innovation Systems, Inc. Inspection devices with laser emitters and optical microphones, and related systems and methods
EP3786899A1 (en) * 2019-08-28 2021-03-03 SO REAL Digital Twins AG A computer-implemented method for generating a 3-dimensional wireframe model of an object comprising a plurality of parts
KR102451657B1 (ko) * 2020-05-22 2022-10-11 (주)아이엔에스 거리 측정 장치 및 방법
JP7399035B2 (ja) * 2020-06-23 2023-12-15 東京エレクトロン株式会社 ティーチング方法、搬送システム及びプログラム
CN112631379A (zh) * 2021-01-06 2021-04-09 Oppo广东移动通信有限公司 盖板装配方法及电子设备
CN113607730A (zh) * 2021-08-03 2021-11-05 无锡乾鹏医疗科技有限公司 零件检测方法、装置、终端及可读存储介质
CN113865506B (zh) * 2021-09-09 2023-11-24 武汉惟景三维科技有限公司 一种无标志点拼接的自动化三维测量方法及系统
CN113847884B (zh) * 2021-09-18 2024-08-06 武汉光谷卓越科技股份有限公司 基于线扫描的精细化三维测量与建模方法
US12394263B2 (en) 2021-12-10 2025-08-19 The Boeing Company Analytical digital twin for nondestructive inspection of a vehicle
US12223594B2 (en) * 2021-12-10 2025-02-11 The Boeing Company Three-dimensional inspection twin for remote visual inspection of a vehicle
CN115965579B (zh) * 2022-11-14 2023-09-22 中国电力科学研究院有限公司 一种变电站巡检三维缺陷识别和定位的方法及系统
JP7544909B1 (ja) 2023-03-31 2024-09-03 東京貿易テクノシステム株式会社 画像生成装置、画像生成プログラムおよびシステム
FR3150295B1 (fr) * 2023-06-21 2025-12-19 Safran Aircraft Engines Procédé de détection par ultrasons de défauts de type zone d’air dans une pièce
CN120009421B (zh) * 2025-04-15 2025-07-22 广州多浦乐电子科技股份有限公司 基于关键点解耦检测的超声翅片检测方法、系统和存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002005899A (ja) 2000-06-23 2002-01-09 Shibuya Kogyo Co Ltd コンクリート構造物の検査方法及びその検査装置
JP2004504610A (ja) 2000-07-14 2004-02-12 ロッキード　マーティン　コーポレイション 試験目的の超音波信号発生装置を配置し位置決めするためのシステムおよび方法
US20040154402A1 (en) 1998-06-30 2004-08-12 Lockheed Martin Corporation Remote laser beam delivery system and method for use with a robotic positioning system for ultrasonic testing purposes

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3007474B2 (ja) * 1991-04-19 2000-02-07 川崎重工業株式会社 超音波探傷検査方法および装置
US5801312A (en) 1996-04-01 1998-09-01 General Electric Company Method and system for laser ultrasonic imaging of an object
US6173066B1 (en) * 1996-05-21 2001-01-09 Cybernet Systems Corporation Pose determination and tracking by matching 3D objects to a 2D sensor
JP2001082951A (ja) * 1999-09-16 2001-03-30 Armonicos:Kk 非接触計測点データ位置合わせ装置、非接触計測点データ位置合わせ方法及び記録媒体
GB0008303D0 (en) 2000-04-06 2000-05-24 British Aerospace Measurement system and method
US6856918B2 (en) 2001-11-26 2005-02-15 Lockheed Martin Corporation Method to characterize material using mathematical propagation models and ultrasonic signal
US7200269B2 (en) * 2002-02-01 2007-04-03 Siemens Medical Solutions Usa, Inc. Non-rigid image registration using distance functions
US7015473B2 (en) * 2003-09-30 2006-03-21 General Electric Company Method and apparatus for internal feature reconstruction
JP2006132973A (ja) 2004-11-02 2006-05-25 Fujimitsu Komuten:Kk コンクリート構造物のクラック検査装置及びクラック検査方法
US7369250B2 (en) 2005-03-25 2008-05-06 Lockheed Martin Corporation System and method to inspect components having non-parallel surfaces
US7681453B2 (en) 2005-03-29 2010-03-23 Lockheed Martin Corporation System and method to calibrate multiple sensors
US8116558B2 (en) * 2005-12-16 2012-02-14 Ihi Corporation Three-dimensional shape data position matching method and device
US7612894B2 (en) 2006-07-18 2009-11-03 Lockheed Martin Corporation Fiber laser for ultrasonic testing

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040154402A1 (en) 1998-06-30 2004-08-12 Lockheed Martin Corporation Remote laser beam delivery system and method for use with a robotic positioning system for ultrasonic testing purposes
JP2002005899A (ja) 2000-06-23 2002-01-09 Shibuya Kogyo Co Ltd コンクリート構造物の検査方法及びその検査装置
JP2004504610A (ja) 2000-07-14 2004-02-12 ロッキード　マーティン　コーポレイション 試験目的の超音波信号発生装置を配置し位置決めするためのシステムおよび方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Method for Registration of 3-D Shapes, IEEE Transactions on Pattern Analysis and Machine Intelligence (1992)

Also Published As

Publication number Publication date
US7865316B2 (en) 2011-01-04
WO2009120813A1 (en) 2009-10-01
BRPI0909261A2 (pt) 2015-08-18
CA2719248A1 (en) 2009-10-01
IL208301A (en) 2014-07-31
BRPI0909261B1 (pt) 2019-08-27
AU2009228317A1 (en) 2009-10-01
JP2011522217A (ja) 2011-07-28
US20090248323A1 (en) 2009-10-01
TWI567690B (zh) 2017-01-21
CN102016565B (zh) 2013-04-03
IL208301A0 (en) 2010-12-30
BRPI0909261A8 (pt) 2018-12-11
CA2719248C (en) 2014-09-09
TW200947348A (en) 2009-11-16
CN102016565A (zh) 2011-04-13
JP5491493B2 (ja) 2014-05-14
EP2257797B1 (en) 2019-09-11
AU2009228317B2 (en) 2014-01-23
EP2257797A1 (en) 2010-12-08
KR20110005693A (ko) 2011-01-18

Similar Documents

Publication Publication Date Title
KR101568444B1 (ko) 부품 포즈를 나타내는 점 데이터에 3차원 모델을 정합시키기 위한 시스템, 프로그램물, 및 관계된 방법들
TWI476365B (zh) 用於使位置資料與超音波資料相關之方法及評估服役中之飛行器零件的方法
EP2288868B1 (en) Vision system and method for mapping of ultrasonic data into cad space
CN102084214B (zh) 结构光系统用于光学形状和位置测量的精确图象获取
CA2777531C (en) Correlation of inspection information and computer-aided design data for structural assessment
JP2005106824A (ja) 内部特徴を再構成する方法及び装置
Hamilton et al. Efficient data acquisition and reconstruction for air-coupled ultrasonic robotic NDE
Bulavinov et al. Industrial application of real-time 3D imaging by sampling phased array
JP2014149156A (ja) 超音波検査方法及び装置
Zhang et al. Robotic path planning using NDT ultrasonic data for autonomous inspection
Turner et al. Using computer vision to map laser ultrasound onto CAD geometries

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20101008

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
A201 Request for examination
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20140303

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20150520

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20151029

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20151105

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20151105

End annual number: 3

Start annual number: 1

PG1601 Publication of registration
FPAY Annual fee payment

Payment date: 20181023

Year of fee payment: 4

PR1001 Payment of annual fee

Payment date: 20181023

Start annual number: 4

End annual number: 4

PR1001 Payment of annual fee

Payment date: 20201029

Start annual number: 6

End annual number: 6

PR1001 Payment of annual fee

Payment date: 20211026

Start annual number: 7

End annual number: 7

PR1001 Payment of annual fee

Payment date: 20221021

Start annual number: 8

End annual number: 8

PR1001 Payment of annual fee

Payment date: 20241023

Start annual number: 10

End annual number: 10