WO1994027198A1 - Systeme et procede de reproduction d'objets tridimensionnels - Google Patents

Systeme et procede de reproduction d'objets tridimensionnels Download PDF

Info

Publication number
WO1994027198A1
WO1994027198A1 PCT/EP1994/001545 EP9401545W WO9427198A1 WO 1994027198 A1 WO1994027198 A1 WO 1994027198A1 EP 9401545 W EP9401545 W EP 9401545W WO 9427198 A1 WO9427198 A1 WO 9427198A1
Authority
WO
WIPO (PCT)
Prior art keywords
dom
digital representation
existing object
colour
emm
Prior art date
Application number
PCT/EP1994/001545
Other languages
English (en)
Inventor
Aldo Gervasio
Original Assignee
Aldo Gervasio
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 Aldo Gervasio filed Critical Aldo Gervasio
Publication of WO1994027198A1 publication Critical patent/WO1994027198A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded

Definitions

  • the present invention relates in general to systems and to methods for the reproduction of three-dimensional objects. More specifically, the invention relates to systems and to methods the purpose of which is to reproduce pre-existing three-dimensional objects by copying their shape and colour characteristics.
  • the system according to the invention provides for the acquisition of data relating to the shape and colour of objects (things and people) , the digital processing thereof, and the accurate reproduction of the objects.
  • the aim is to produce physical copies of originals to which access is difficult (cultural items: sculpture, monuments, buildings) or which are changeable with time (people, animals, plants) in order to disseminate knowledge or to preserve the memory thereof.
  • a further subject of the invention is a -system and a method of producing three-dimensional objects which are Copies of or are derived from pre-existing objects, for use in multi-media information stations.
  • FIG. 1 is a schematic representation of acquisition equipment used in an embodiment of the system according to the invention, seen from above,
  • Figure 2 is a perspective view of a detail of the equipment of Figure 1,
  • FIG. 1 shows an alternative configuration of the equipment of Figure 1
  • FIG. 4 is a schematic representation of shaping equipment used in an embodiment of the system according to the invention, seen in perspective,
  • FIGS 5 and 6 show the operation of the equipment of Figure 4, in section
  • Figure -7 is a partially-sectioned, schematic representation of a support device used in an embodiment of the system according to the invention.
  • FIG. 8 is a schematic representation of colouring equipment used in an embodiment of the system according to the invention, seen in perspective,
  • FIG. 9 shows the operation of the equipment of Figure 8, partially in section
  • Figures 10 and 11 show two alternative embodiments of a multi-media information station according to the invention
  • Figures 12, 13, and 14 show, in section, structural details of the multi-media station of Figure 10, according to alternative methods, and
  • Figure 15 shows a structural detail of Figure 14.
  • Photographic records are made by taking pairs of colour photograms which permit subsequent stereoscopic viewing, and consequent photo-interpretation and plotting of the shape and colour parameters of the subject to be reproduced.
  • photographic equipment which generates non-metric imagines with central perspective (that is, conventional equipment used in professional photography) is generally used.
  • Equipment which can acquire digital images with central perspective photographic cameras with CCD digital back magazines or linear scanning devices
  • Non-metric images require greater care in the plotting and processing steps in order to correct optical deformations which the lenses induce therein; in fact, any lens needs calibration which must be determined experimentally beforehand.
  • the equipment for photogrammetric photography will now be described with reference to Figures 1, 2 and 3.
  • the photography requires a pair of twin, large-format cameras CAM disposed side-by side and parallel to one another, with the two films positioned in the same image plane PIMM and the centres of the two lenses OB positioned in the same focal plane PFOC, which may be parallel to a principal reference plane PPRI of the subject OR to be photographed, since, as a general rule, correct perspective is achieved if the image plane PIMM and the plane of the subject OR are parallel, whilst any divergence from the parallel condition accentuates the impression of vanishing in the plane PIMM of the image.
  • the perspective is controlled by the positioning of the image plane PIMM relative to the subject OR.
  • orientation of the focusing plane (the focal plane) PFOC enables the depth of field to be extended according to the volumetric bulk of the subject OR.
  • the arrangement of the focal plane PFOC is determined by alteration of the original parallel condition between the lens OB and the image plane PIMM. This gives rise to a need for photographic equipment incorporating devices which can modify the geometrical arrangement of the basic planes PFOC, PIMM. The characteristics of the main items of equipment used are described briefly below:
  • the optical bench is constituted by the set of two optical cameras CAM with movable bodies, connected by an adjustable support frame TEL.
  • the maximum format of the photograms is 30 x 30 cm (12 x 12 inches) but the 20 x 25 cm format (8 x 10 inches) is currently used. Small crosses or reference marks are made in the four corners of the photograms for the subsequent orientation of the photogrammetric plotting.
  • the optical cameras CAM can be lengthened (extended) by means of bellows SOF to focus the lenses OB (focusing correction) .
  • the frame TEL provides for the adjustment of the position of the image plane PIMM relative to the basic plane PPRI of the subject OR (perspective correction of the vanishing lines) .
  • the distance between the two cameras CAM is also adjustable by means of the support frame TEL. In the specific embodiment, a distance of 42 cm between the optical axes of the two lenses OB is used.
  • lenses OB for photographic systems with movable bodies must have image circles larger than that which covers the photographic format with which they are used.
  • the larger the image circle the more the planes of the equipment can be moved.
  • the field diameter used depends on its focal length, on its field angle, and on the optical design of the construction.
  • the diameter of the image circle also depends on the aperture of the diaphragm and on the mechanical extension (the lengthening) of the focal plane PFOC, that is, on the illumination and on the distance from the subject OR.
  • lenses OB of the same model are used and have focal lengths of 450 mm, nominal field angles of 52 degrees, and image circle diameters (with diaphragm f/22 and extended to infinity) of 440 mm.
  • the lenses OB are equipped with a central mechanical shutter OT with opening times of 1/125 to 1 second plus fixed time exposure and with the diaphragm adjustable from f/9 to f/128.
  • Electronic flash units or illuminators have the function of intensely illuminating the scene photographed to enable impressions to be made on the films, which are covered with light-sensitive emulsions, if natural light is lacking (or inadequate) .
  • a parameter known as a guide number (also called GN) is used to evaluate the powers of the illuminators, or their illuminating capacity; the higher the guide number the greater is the luminous intensity of the lamp and the greater is the range of the flash.
  • two flash units with the colour spectrum of daylight and with a guide number of 60 are used.
  • Photographic films can be divided into three large categories; black and white negative films, colour negative films, and slide films, and can be classified on the basis of the sensitivity of the light-sensitive emulsion with which they are covered.
  • colour slide films for daylight or flash with a sensitivity of 50/64 ISO and resolution of 150 lines/mm are used. If there is difficulty in focusing on the subject, it is possible to change to films with sensitivity of 100 ISO and resolution of at least 100 lines/mm.
  • failure to photograph the original
  • Alternative equipment for immediate development which enable the photographs to be checked immediately for any inadequate quality.
  • the conventional analog photographic cameras CAM are modified by the introduction of digital back magazines with matrices of CCD sensors to replace the conventional back magazines DR for films.
  • the main applications of these new technologies relate to the medium photographic format (6 x 6 cm) with back magazines which enable 5000 x 7200 pixels (colour dots) to be acquired and the 13 x 18 cm format with matrices of CCDs which enable pixels of dimensions smaller than one hundredth of a millimetre to be obtained.
  • the medium format (6 x 6 cm) is not advisable since the image of the subject is too small (enlargement ratio 1/20) and is not compatible with the qualitative requirements, for example, of sculptural reproduction, owing to insufficient data density.
  • the 13 x 18 cm format which is a little smaller than that considered optimal for reproduction requirements (20 x 25cm), involves considerable storage of about 1.2 Gbytes per photogram, particularly for colour images.
  • the management of pairs of images of this format on the hardware platforms currently in use in photogrammetric plotters is very expensive. It is foreseeable, however, that in future digital photogrammetry will become very competitive.
  • post-digitization of conventional photograms for example, by means of high-definition scanners, is still preferable at the moment.
  • the spatial markers SC, MSF, MOR visible in Figure 2 relate to a cartesian reference system (three perpendicular axes) but may also relate to non-cartesian co-ordinates (cylindrical, polar, or the like) , and are constituted by a flat grid MSF (co-ordinates XY) which constitutes the reference plane PPRI of the subject OR (and hence, in general, is parallel to the focal plane PFOC and to the image plane PIMM) and which bears the spatial markers MSF, and by a system of calibration steps SC on the axis perpendicular to the planes described (the co-ordinate Z) and hence parallel to the optical axes of the cameras CAM.
  • MSF co-ordinates XY
  • a stiff board SF with dimensions of 50 cm vertically by 80 cm horizontally, of a dark colour which absorbs the flash light, with light- coloured lines forming a grid MSF with spacings of 5 cm is used and has a slot in the lower portion suitable for housing the head of the subject OR.
  • the board SF is positioned parallel to the shoulders, more or less at the level of the ears.
  • Scales SC displaying about thirty reference points spaced 1 cm apart (along the Z axis) are hooked onto the board SF in the most useful positions for the photograph.
  • a useful, although not indispensable, accessory is a third medium- format camera (not shown) with immediate development, the photograms being taken in synchronism with the two main cameras CAM.
  • the photographs must be taken in a controlled environment (for example, at a photographic studio) . It is necessary to check that the place is not subject to vibrations, the air must be still, and there must be a good background light, which can possibly be switched off when the shutter is released.
  • the release device must simultaneously control the two shutters OT and synchronize the flash lamps.
  • the spatial markers SF, MSF, MOR must be arranged correctly: the grid MSF (the plane XY) must be parallel to the image plane PIMM (in general, except for perspective corrections) and thus vertical, the calibration steps SC of the perpendicular axis (the co-ordinate Z) must be disposed as near as possible to the area in which the face of the subject OR is photographed.
  • the distance between the plane PPRI of the grid and the focal plane PFOC must be such as to ensure that both the cameras CAM can see the scene to be photographed and that the common portion enables subsequent stereoscopic viewing of the subject OR and of the spatial markers SF, MSF, MOR.
  • the distance between the focal plane PFOC and the reference plane PPRI (the plane XY) of the subject OR is between 160 and 200 cm.
  • the marking points MOR (for example five) for correlation between the front view and the right- hand profile, must be visible both in the two front-view photograms and in the two photograms of the right-hand profile. The same must occur for the front view and the left-hand profile.
  • the marker points MOR do not have to be aligned but, in insofar as other restraints (maximum visibility) allow, must be distributed approximately symmetrically on the right-hand and left-hand portions of the face, care being taken to avoid marking on rapidly- movable muscle groups, points with bony or cartilaginous support near the skin (the back of the head, the cheek bone, the base of the nose, the jaw, etc.) being preferred.
  • the marking may be achieved very simply by the application of small adhesive paper discs, or small adhesive plasters (with diameters of a few millimetres) on which small crosses MOR have been marked.
  • small dimensions of the markers MOR is also necessary in order not to lose valuable local colour data.
  • the photographer introduces the subject OR into the scene and, by means of ground-glass slides disposed in the image plane PIMM (at the back DR of the camera) , checks for correct framing, depth of focal field and visibility of all the spatial markers SC, MSF, MOR.
  • the photographic parameters are correct
  • the right-hand and left-hand profiles Dx and Sx are then taken, care being taken to lower the subject OR by at least ten or fifteen centimetres and to rotate the subject OR through a little more than a right angle in order also to scrutinise and thus photograph, although in a sidelong manner, the upper portion and the rear portion of the head of the subject OR. It is possible, in order to obtain perfectly congruent sets of stereoscopic photograms, to provide for the simultaneous use of several optical benches BO, all synchronized for the photography. For example, there may be three optical benches BO, one for the front view and two for the left-hand and right-hand sides, synchronized with each other in order simultaneously to take the three pairs of photograms necessary for the acquisition, as shown in Figure 3. Processing of the data
  • the pair of stereoscopic photograms is surveyed by an analytical plotting system, the basic components of which are:
  • the computer which processes the measurements made by the stereocomparagraph, carries out internal, relative and absolute calculations of the orientation parameters of the photograms, and enables then to be plotted;
  • the devices which permit dialogue between the operator and the computer, the input of data to be used, and the display of the results of the processing (a video screen and a keyboard) ; 14 the electronic interface which enables data to be exchanged between the stereocomparagraph and the computer and which regulates the operation of the servomotors; these follow the instructions transmitted by the computer and perform movements of the photogram-holders and of the optics of the stereocomparagraph to permit the plotting operations.
  • the focal length of the camera used has to be communicated to the computer; if the two photograms were taken with different cameras, the separate values of their focal lengths will be entered. It is also possible to make corrections relating to system errors caused by the distortion of the camera lens. Corrections of errors due to deformations of the film can also be introduced.
  • the computer checks for any deformation of the film by comparing the distances between the fiducial marks, also called repens, of the camera, which are shown by the calibration certificate of the camera in question, with the distances between the marks measured on the photograms used in the stereocomparagraph.
  • the computer asks the operator to collimate two reference points (hereinafter called the start points) which are used as the origin of the instrumental co-ordinate systems of the left-hand and right-hand photograms.
  • the corrections of the systematic errors of the measurement members of the instrument, which are determined when it is set-up, are also related to these start points.
  • the start points are shown by two crosses cut in the glass of the photogram-holder of the stereocomparagraph.
  • the internal orientation parameters of a photographic camera are the focal length of the lens and the position of the principal point.
  • the value of the focal length has already been supplied to the computer in the preliminary step during the initial dialogue.
  • the position of the principal point is normally identified by the intersection of the straight lines joining opposite pairs of fiducial marks or is related thereto.
  • To enable the computer to perform the relative calculation it is thus necessary to measure the plate co ⁇ ordinates of the fiducial marks and to supply these values to the computer.
  • the plate co-ordinates are displayed relative to the left-hand and right-hand photograms. These co-ordinates originate at the principal point of the respective photogram.
  • the angular parameters which define the relative positions of the cameras at the moment when the photograph was taken are defined by this step.
  • the relative orientation that is, in order to be able to calculate the aforesaid parameters, it is necessary to acquire the plate co-ordinates of a certain number of homologous points on the model. For each point collimated, the value of the residual parallax is displayed, expressed in microns, with reference to the plane of the plate.
  • the purpose of the orientation of the model is to determine parameters which enable absolute dimensioning and orientation of the model formed by the relative orientation.
  • absolute orientation parameters it is necessary to know the object co-ordinates of a certain number of points of the model (control points) , the corresponding co-ordinates of which can be measured in the instrumental system. At least three points are required to carry out the calculation, but a good standard makes use of at least six points.
  • the deviations of the three co-ordinates of each control point are displayed, expressed in the same units of measurement as those in which the known co ⁇ ordinates were supplied to the computer.
  • the computer supplies the co-ordinates of all the points observed, expressed in the object reference system (the absolute co-ordinates) .
  • the absolute co-ordinates the co-ordinates of all the points observed, expressed in the object reference system.
  • the absolute orientation it is possible to carry out all the numerical plotting steps, that is, the acquisition and storage of the piano-altimetric co-ordinates of points on the model with a density and distribution which enable a representation of the object photographed to be obtained.
  • Each point plotted is characterized by an identification code as well as by the three numerical values of its co ⁇ ordinates which identify its position in space, and by the corresponding values of the plate co-ordinates (right and left) which identify its position in the photograms.
  • Areas may be defined in which the data must be denser, for example, in regions of the face with greater importance for identification (the mouth, nose, eyes) and distinctive lines or points (the size of the eyelids, of the nostrils, of the lips, marker points) may be defined, the points being detected outside a grid concept, if necessary.
  • the resolution of the plotting is also proportional to the quality of the image and, for a given quality, to the scale of the representation of the object.
  • the maximum precision achievable is of the order of about 0.14/0.15 mm. (7 lines per millimetre; 180 dpi) .
  • RGB trichromatic process
  • a particularly effective method consists of generating the DOM by the finite-element method, defining an interpolation surface formed by local surface elements.
  • distinct bilinear polynomials are used for the individual grid elements, ensuring continuity along the edges of adjacent elements.
  • the interpolation surface is determined by imposing a minimum condition on the weighted sum of the squares of the displacements of the points surveyed, taken from the interpolation surface, and also a maximum condition on the variation of differences of level between adjacent nodes of the grid. These criteria provide an interpolating surface with minimum curvature which approximates the available points surveyed with adequate filtering.
  • the spacing of the continuous grid must fulfil the need for optimal reproductive quality of both shape and colour, taking account of the operating characteristics of the numerically-controlled machines used and the maximum resolution of the technology used in the acquisition and in the processing of the data.
  • - Resolution of the photographic films 100/150 lines per mm (2500/3500 dpi) .
  • a continuous-grid spacing of 0.2 mm with a consequent data density (metric and colour) of about 5 per mm (25 per square mm) and about 125 per inch (about 16,000 per square inch) is considered applicable.
  • the basic grid thus defined is associated with less dense grids extracted therefrom by successive doubling of the spacing, which corresponds to a reduction by 1/4 in the density of the points retained. There are, therefore, the basic grid with a spacing of 0.2 mm and with about 16,000 points per square inch, the doubled grid with a spacing of 0.4 mm and about 4,000 points per square inch, and so on up to a grid with a spacing of 3.2 mm and about 60 points per square inch, the last two grids are used to lighten the programs for the rough processing.
  • any small defects in the acquisition or processing can be made up for by three ⁇ dimensional CAD programs compatible with the plotting and photo-retouching programs. It is also possible to effect any modifications and processing of the digital model (DOM) , which are then applied to the copies produced.
  • DOM digital model
  • the instructions which lead to the physical production of the model by means of numerically-controlled machine tools and machines having ink-jet heads and also numerically controlled must be prepared. It is therefore necessary to have available programs which enable the tools and the ink-jet devices to be controlled from roughing operations to finishing operations.
  • the machine tool used is a portal copy milling machine MMOV, TFR (shown schematically in Figure 4) .
  • the working takes place firstly by roughing with the workpiece EIL clamped in the basic (facing) position and it is then rotated through 90 degrees and the working of the side is carried out, etc. As the model EIL is rotated and roughly shaped, it progressively acquires the final shape.
  • the geometrical shape of the model EIL is finally finished by means of tools UFR of ever smaller dimensions.
  • the milling tools UFR used are of the ball-end type with rounded, spherical tips (see Figure 5) .
  • the tool UFR travels along the model EIL first of all spaced therefrom and then ever nearer to the final configuration; the path PCU of the tool UFR moves in cartesian planes parallel to the reference planes and hence perpendicular to the axes X, Y, Z of the machine.
  • the tool UFR moves in the direction Y, gradually adopting the respective Z values and keeping the value of the X co-ordinate constant throughout the pass.
  • the plane of the new pass is again perpendicular to the axis X but is spaced from the previous one by ⁇ x (the value of the advance of X) .
  • the centre CUF of the tool UFR follows the path of the pass PCU and the tool actually works (removes material) at a distance equal to the radius of the ball-end mill UFR from the centre CUF.
  • the surface SPL produced by the working is consequently produced by the envelope of a sphere which has the radius of the tool, and the centre of which is on the path PCU followed by the centre CUF of the tool UFR. This situation is shown in Figure 5.
  • the programs for the path of the ink-jet head TGI are accompanied by programs relating to the intensity of the jet GI, in the sense that, when a certain point AR is reached, it must be coloured first of all with one of the basic colours of the four- colour process (CMJK, cyan, magenta, yellow and black) at the appropriate intensity for the component thereof in formation of the final colour.
  • CMJK basic colours of the four- colour process
  • cyan, magenta, yellow and black three cartesian co-ordinates of the ejector nozzle UGI are defined, its zenith and azimuth points and the intensity of the jet GI controlling the ejector UGI.
  • the ink-jet device UGI is mounted on a carrying head TGI which allows for two further axes of rotation ⁇ and ⁇ .
  • a device SPGL for supporting the model EIL may allow for one axis of rotation.
  • the ejector nozzle UGI is kept at a constant distance from the surface of the model EIL, measured along the straight line DGI along which the drops of ink GI are ejected. This straight line DGI is perpendicular to the plane ' PTAN tangential to the surface of the model EIL in the area AR being coloured.
  • the reproduction of the sculptural shape is entrusted to a machine tool of the portal milling type with a ball-end tool which is subject to numerical control on four axes; three perpendicular cartesian translation axes (X, Y, Z) and one rotation axis ( ⁇ ) .
  • Two translation axes (X and Z) control the position of the tool and the other two axes (Y and ⁇ ) control that of the work piece.
  • a further manual positioning axis is achieved by equipment which clamps the workpiece and can be activated in eight perpendicular positions (on the eight basic dihedral angles of the system X, Y and Z) .
  • the working of the sculptural model requires the activation of the three cartesian axes and of five basic positions of the clamp.
  • the use of the rotation axis ( ⁇ , the fourth numerical-control axis) and of further positions for the clamping of the piece are required for the detailed working of hidden points (such as, for example, the drilling of the orifices of the nose or ears) which are not relevant for the purposes of the model but, for example, are useful for plastic-surgery reconstructions.
  • hidden points such as, for example, the drilling of the orifices of the nose or ears
  • the crude piece, of cubic, prismatic, or cylindrical shape, must be prepared for correct clamping on the machine tool; see Figure 7 in this connection.
  • the piece EIL is of rectangular, prismatic shape and of a size large enough to contain the final shape PEF
  • the piece EIL has to be drilled in the two opposite faces of which one corresponds to the neck where it is attached to the underlying body and the other corresponding to the top of the head.
  • two (or better three) blind holes of a diameter and length suitable to house two (or three) metal pins BSS for engagement on a main support bracket PSTl must be formed.
  • a single blind hole suitable for housing a pin BSS for engagement on a matching support and centring bracket PST2 must be formed.
  • the axis of this hole must correspond to the clamping axis (and thus to the axis of manual rotation through dihedral angles) of the piece EIL.
  • the depth of this hole is limited and in any case is such as not to leave traces (evidence) at the end of the operation.
  • the problem of the removal of the evidence does not arise since they belong to the bearing surface of the bust.
  • bracket PSTl and the corresponding bracket PST2 are screwed thereto by means of bolts BLL, the brackets being fixed to the bench of the milling machine or possibly mounted for rotating by means of bearings BRNG on a support SPTL to permit rotation through dihedral angles about the axis of rotation.
  • the piece EIL is positioned manually at the spatial angle which enables the first rough working to start.
  • Cylindrical and spherical-tipped ball-end tools are selected according to the material to be worked (wood pulp or marble) and the type of working to be effected (roughing or finishing) .
  • the material to be worked affects the selection of the hardness and the geometry of the cutters of the tool.
  • the selection of the material and of the tools affects working costs and times and may require adaptation of the working programs.
  • the other working parameters, the speed of rotation of the tools, the speed of relative advance of the tool and the piece and the width of the removal front (the depth and thickness of the pass of the tool) are also related to the nature of the material to be milled.
  • the aforementioned programs guide the tool and the piece progressively with successive milling passes, towards the final shape.
  • First of all the roughing of one working face, for example, the front is effected.
  • the piece is positioned so that the shape data coming from the front-view of the subject materialize on the surface which is exposed to the working. With successive roughing passes, the details of the face gradually appear, starting from those which project most (the nose) and finishing with the most recessed.
  • the piece has to be rotated manually by means of the clamping devices through a right angle in order to proceed with the rough working, for example, of the right- hand side and then of the left-hand side.
  • the piece is also rotated through a dihedral angle by means of the clamping equipment in order to work the back (the back of the neck) .
  • the reproduction of the surface colour of the model takes place by means of a jet of ink (or special paints) on each individual small area of the morphological copy by a colouring process by means of the adding and layering of the basic colours of the four-colour (CMJK) or three-coour (CMJ) processes, according to a principle similar to that used in conventional industrial printing.
  • a numerically-controlled machine carrying the ink-jet ejectors is also used for this step and can move them on five axes, three cartesian, perpendicular translation axes (X, Y, Z) and two rotation axes ( ⁇ and ⁇ ) .
  • Two translation axes (X and Z) and one rotation axis ( ⁇ ) enable the position of the ejector to be controlled and the other two (Y and ⁇ ) control that of the model to be coloured.
  • the programs controlling the ejectors (and the model) enable the model to be coloured, for example, along horizontal paths lying in planes perpendicular to the axis Z, from the top of the head to the neck, ink being applied to each point by means of a jet perpendicular to the surface to be coloured and with an ink intensity equal to the percentage of that colour component present in the pixel to be reproduced. It is possible to start with progressive printing of transparent inks of the colour cyan, followed by magenta and then by yellow, finishing with black covering ink.
  • the black is an optional application which deepens the contrast effect of the shaded areas.
  • Ejectors suitable for the purpose are of the same functional type as those used in in -jet printing on paper. For example, ink-jet or bubble-jet ejectors may be used. In order to keep working times within acceptable limits without sacrificing the quality of the colour reproduction to an appreciable extent, it is advisable to operate with nozzles which enable pixels with 0.2 mm sides to be covered.
  • This second embodiment of the invention has fewer acquisition and processing difficulties than the previous one whilst being of equal reproductive complexity.
  • a museum exhibit of great historical and cultural value which is subject to very strict protection and surveillance restraints is to be produced.
  • the exhibit is not transportable nor is it possible to consider concise reproduction techniques carried out by direct impression, or analytical techniques carried out by mechanical feeling.
  • Only concise acquisition techniques of the photogrammetric type, or analytical techniques carried out remotely by means of laser-light dimensional sensors and CCD-matrix colour sensors can be proposed.
  • digital analytical acquisition techniques by means of the sensors indicated above have been adopted for use directly in locations within the museum. It is therefore necessary to have equipment which can be transported to the locations in which the objects to be surveyed are located.
  • the movements to be subjected to numerical control are on the three cartesian axes (X, Y and Z) and one rotation axis ( ⁇ ) for the dimensional detection and two rotation axes ( ⁇ and ⁇ ) for colour detection.
  • the acquisition-reproduction analogy does not stop at the handling machine, but also involves the operative techniques.
  • the machine for moving the tools: ink-jet devices, dimensional and colour sensors, may be the same.
  • Both the cognitive stage and the production stage can thus be carried out on the same machine, provided that it has five axes of movement altogether, three for translation and two for rotation. Naturally, it has to be suitably equipped with the corresponding tools and clamping equipment for the specific operation required.
  • the laser is an active device which produces light with certain characteristics and can be combined with a passive device for detecting reflected light (a solid-state CCD video camera or photodiode) to measure the distance between the sensor and the reflecting point on the object to be surveyed.
  • a passive device for detecting reflected light a solid-state CCD video camera or photodiode
  • Two alternative distance-measuring techniques may be used.
  • Time-of-flight sensors detect the distance by measuring the time taken by the light to travel the distance (from the laser source to the subject and from the subject to the detector sensor) .
  • phase measurements are typically used with modulation of the light pulse emitted.
  • - collimated light beams can be formed and distances of very small surfaces (hundredths of a millimetre) can thus be measured,
  • Triangulation sensors have detection " sensors with very dense matrices of photodiodes which can locate the position of the reflected beam very precisely. The closer the reflected beam is to the beam emitted, the nearer is the object and, conversely, the further away it is, the more distant is the object.
  • the field of measurement of this device is limited by the size of the matrix. At the limit, the field- of measurement may be reduced to a single focal distance, known as the instrument constant, if the matrix is in the form of a dot.
  • the system for positioning the numerically-controlled machine is subservient to the fixed laser triangulation sensor which acquires the measurement only when the position of the detector is at a distance equal to the instrumental constant from the object.
  • Scanning cameras are optical devices associated with matrices of photodiodes (CCDs) and can carry out surveys with very high resolution producing pixels (colour dots) with sides of a few hundredths of a millimetre.
  • the operating principle is the same as that carried out in the scanners for processors described above in connection with the post-digitization of photograms.
  • the areas to be collimated have to be focused along a photographic axis perpendicular to the surface to be surveyed.
  • a single method is adopted for the acquisition of the shape by means of laser sensors and for the subsequent reconstruction with milling tools and a single method is adopted for the acquisition of the colour with CCD colour sensors and for the subsequent colouring by means of the ink ejectors.
  • the dimensional survey is carried out by moving the laser sensor in the direction Y, keeping the value of the X co-ordinate constant throughout the pass and recording the relative values of the Z co-ordinate of the object little by little, corrected for the instrumental constant.
  • the sensor effects a second pass at a predetermined distance ( ⁇ X) from the preceding one.
  • the survey pass may be reduced to a few hundredths of a millimetre; in the specific embodiment, acquisition with grid elements of 0.2 mm is considered adequate (as in the previous embodiment) . It may be possible to scan the points surveyed with a variable density. In order to be able to carry out spatial aggregation of the DOMs acquired for the individual scanning visits, it is also necessary, in this embodiment, to detect the positions of an adequate number of spatial markers. Upon completion of the dimensional scanning of one face of the object, the others are surveyed by rotating the object through dihedral angles.
  • conductive tracks RCND disposed in more or less uniform grids have to be physically formed thereon for locating a pointing sensor RPTR.
  • Instructions must in any case be provided for the paths for the tools and for the ejectors which follow the grid elements first of all for the homologous sides (approximately parallel to one another) and then for the others (approximately perpendicular to the former) .
  • a small channel visible in section in Figure 12
  • FCND thin insulated conductor wire
  • a track of conductive paint VCND (containing, for example, colloidal particles of silver) is deposited and is insulated at the intersections of the grid elements by areas covered with insulating paint VISL to prevent local short-circuits (this situation is visible in Figure 15) .
  • the fusion dies which constitute the shells in which the plastics material, which is injected hot in the liquid state, cools, sets and acquires the desired shape.
  • the shapes of the shells correspond to the negative of the DOM of the object and are produced by means of instructions which guide the tools of the milling machine to hollow out in the crude piece a shape corresponding to that of the object to be reproduced.
  • the colouring takes place indirectly by printing with rubber pads which copy the shape of the object and release the four coloured components of the colour one at a time (pad-transfer printing) .
  • the rubber ink pads have the negative shape of the object and are inked on supports which are imprinted according to the individual colour components resulting from the colour survey of the object, by means of the laser photo unit, on four films, one for each component (CMJK) .
  • the conductive tracks VCND may also be pad printed.
  • the principle of plastic thermoforming under vacuum consists essentially of the moderate heating to its softening point of a sheet of PVC which is restrained at its edges, of causing it to adhere to a die of predetermined shape by creating a differential vacuum between one side of the sheet and the other (a vacuum in the part of the die which attracts the sheet) , and of cooling the sheet to stabilize the shape imparted by the die. If the original sheet is printed beforehand (for example, off-set printed with special inks) , the colour data, which are first of all flat, assume the three-dimensional shape imparted by the die.
  • the backs of the copies produced by thermoforming then have to be provided with the conductive tracks VCND by spraying with silver paint by the method indicated above, or by the gluing of small conductors FCND inserted in grooves which are marked on the thermoforming die, or are applied to the inside of the copy, as can be seen in Figure 13.
  • the back of the thermoplastic copy is filled with expanded polyurethane foam SCH (see Figure 13) which stiffens the copy, finally fixing its shape.
  • Multimedia information stations - pointing system Fundamental to an information station is the univocal relationship between the points on the model and the specific data of those points contained in the multimedia programs. It is therefore necessary to have a system which identifies (locates) the individual points on the model in a reference system which can be attached to the data banks.
  • a point can be defined by means of its co ⁇ ordinates relating to the digital model of the object (DOM) or to a system connected thereto.
  • a first method is that described partially above (see Figure 10) which consists of identifying a point on the surface of the model EMM with the aid of an ultrasonic-frequency electromagnetic wave sensor RPTR (about 50 KHz) which moves in a grid field brought about by a frequency generator connected to the conductive grid RCND under the skin of the model EMM.
  • the generator and sensor RPTR are connected to electronic circuits which can establish, by means of multiplexer scanning programs, in which grid element the sensor RPTR is situated.
  • the position in which the tip of the RPTR sensor is situated in the grid element (X, Y of the element m,n) is identified by proportional interpolation of the signal received.
  • the system is an analog system and the output signal is transformed into digital form (A/D - analog-digital converter) .
  • the electronic locating circuit is activated by touching the model EMM at a point with the sensor RPTR (for example, in the form of a pen) , and the co-ordinates of the point touched are sent to the processor (or to the processors) subservient to the information station EMM, activating the information channels belonging to that point, according to the multimedia programs implemented.
  • Another location method makes use of the triangulation of ultra-sound waves (see Figure 11) .
  • the model EMM is touched at a point with an ultra-sound generator APTR (the pen) .
  • the pulses emitted are picked up by various sensors ARX (at least two) situated at strategic points in the space in which the model EMM is disposed.
  • the principle is to identify the co-ordinates of the emission point APTR, on the basis of the different intensities and/or times of flight of the signal picked up by various listening points ARX by effecting an acoustic triangulation.
  • the positioning of the model EMM in the field of operation of the sensors ARX is fundamental, since the spatial recognition is not linked directly to the physical model EMM, as in the first case described.
  • the method of the invention can in fact be used in a series of applications connected with the study or reconstruction of archaeological finds or of architectural structures, for which there is no satisfactory solution at the moment.
  • the method according to the invention may be used to produce enlarged copies of archaeological finds to facilitate the study thereof, or reduced copies of architectural structures to create very accurate three-dimensional models or relief models. It is also possible to intervene at the level of the digital representation DOM of the original, to carry out a series of operations which can subsequently be transferred to processed or reconstructed physical objects.
  • the missing portions of a partially-destroyed sculpture or an ancient building can be extrapolated or regenerated by software means so that a physical copy of the original in its original condition, or possibly in its condition at a subsequent moment in its history, can be produced.
  • a possible use is for the restoration of ancient monuments if they have repetitive elements such as bas- reliefs or ornamental sculptures or symmetrical elements which must be reproduced.
  • a laser beam piloted by a computer can cause some materials: resins, powdered waxes, metals, plastics, or ceramics, to harden at its focal point.
  • resins powdered waxes, metals, plastics, or ceramics
  • the hardening process is photochemical; for the powders the process is sintering or partial fusion.
  • the components being formed are hardened in a liquid or powder bath, their dimensions being increased in successive layers until the final size and shape are reached.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne la reproduction physique en couleur d'objets physiques (OR) tels que des pièces de musée ou des personnes. Ledit système permet la reproduction physique tridimensionnelle d'objets physiques préexistants (OR) de la manière suivante: étude de l'objet physique (OR) par photogrammétrie ou par des techniques modernes de balayage numérique, traitement d'un modèle numérique (DOM) généré à partir des données recueillies pendant l'étude, reproduction de l'objet au moyen de machines de traitement (MMOV) assistées par ordinateur et portant des têtes d'outils (TRF) et des têtes de coloration (TGI) du type à jet d'encre (UGI).
PCT/EP1994/001545 1993-05-13 1994-05-13 Systeme et procede de reproduction d'objets tridimensionnels WO1994027198A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO93A000332 1993-05-13
ITTO930332A IT1270945B (it) 1993-05-13 1993-05-13 Sistema e procedimento per la riproduzione di oggetti tridimensionali

Publications (1)

Publication Number Publication Date
WO1994027198A1 true WO1994027198A1 (fr) 1994-11-24

Family

ID=11411478

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1994/001545 WO1994027198A1 (fr) 1993-05-13 1994-05-13 Systeme et procede de reproduction d'objets tridimensionnels

Country Status (2)

Country Link
IT (1) IT1270945B (fr)
WO (1) WO1994027198A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0735446A2 (fr) * 1995-04-01 1996-10-02 Petio Co., Ltd. Dispositif de reproduction tri-dimensionelle
NL1006476C2 (nl) * 1997-07-04 1999-01-05 Anthonie Arie De Lange Werkwijze en inrichting voor het vervaardigen van driedimensionale fysieke reproducties.
FR2768967A1 (fr) * 1997-09-29 1999-04-02 Liliane Hermet Procede de fabrication et de reproduction d'au moins une partie d'un objet ou d'un individu
DE10132226A1 (de) * 2001-06-29 2003-01-16 Kpv Ag Bern Verfahren zur Herstellung einer dreidimensionalen Kopie von einem als Vorlage dienenden Körper und Anlage zur Durchführung des Verfahrens
EP1279136A1 (fr) * 2000-04-06 2003-01-29 Solid Terrain Modeling Appareil d'imagerie tridimensionnelle a haute resolution destine a des modeles topographiques et 3d
EP1433112A1 (fr) * 2001-09-07 2004-06-30 Elastic Image, Incorporated Systeme et procede de transformation d'images graphiques
WO2006097560A1 (fr) * 2005-03-15 2006-09-21 Leonardo Luis Di Benedetto Machine a graver a commande numerique
FR2883504A1 (fr) * 2005-03-25 2006-09-29 Patrick Yves Roger Bedard Procede de reproduction d'une oeuvre sur une surface
EP1744147A1 (fr) * 2005-07-13 2007-01-17 Sgl Carbon Ag Procédé et dispositif pour le contrôle optique de parties composantes de freins et d'embrayages en céramique à carbone
EP1902858A1 (fr) * 2006-09-22 2008-03-26 Patrick Yves Roger Bedard Procede de reproduction d'une oeuvre sur une surface
US7637023B2 (en) 2007-12-14 2009-12-29 Toyota Motor Engineering & Manufacturing North America, Inc. Threaded stud position measurement adapter
RU2629574C2 (ru) * 2015-12-29 2017-08-30 Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВО "МГТУ "СТАНКИН") Устройство для лазерного спекания изделия из порошкообразных материалов
RU2630151C2 (ru) * 2015-12-29 2017-09-05 Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВО "МГТУ "СТАНКИН") Устройство для лазерного спекания изделия из порошкообразных материалов

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57204402A (en) * 1981-06-11 1982-12-15 Toyoda Mach Works Ltd Shape measuring method
WO1983004114A1 (fr) * 1982-05-18 1983-11-24 Gareth David Thomas Procede et appareil permettant d'effectuer des operations sur des surfaces tridimensionnelles
US4613866A (en) * 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
DE3613096A1 (de) * 1986-04-18 1987-10-29 Messer Griesheim Gmbh Verfahren zum bearbeiten von werkstuecken
EP0398352A2 (fr) * 1989-05-19 1990-11-22 Petio Co., Ltd. Un système automatique de gravure
EP0433013A2 (fr) * 1989-12-15 1991-06-19 Sony Corporation Méthode pour introduire des données de configuration tridimensionnelles
WO1992008175A1 (fr) * 1990-10-31 1992-05-14 416604 Alberta Inc. Systeme numeriseur a laser destine a la production de dispositifs prothetiques
WO1992011737A1 (fr) * 1990-12-21 1992-07-09 Tøpholm & Westermann APS Procede de realisation d'otoplasties ou de pieces d'ajustement otiques adaptees individuellement aux contours d'un conduit auditif

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57204402A (en) * 1981-06-11 1982-12-15 Toyoda Mach Works Ltd Shape measuring method
WO1983004114A1 (fr) * 1982-05-18 1983-11-24 Gareth David Thomas Procede et appareil permettant d'effectuer des operations sur des surfaces tridimensionnelles
US4613866A (en) * 1983-05-13 1986-09-23 Mcdonnell Douglas Corporation Three dimensional digitizer with electromagnetic coupling
DE3613096A1 (de) * 1986-04-18 1987-10-29 Messer Griesheim Gmbh Verfahren zum bearbeiten von werkstuecken
EP0398352A2 (fr) * 1989-05-19 1990-11-22 Petio Co., Ltd. Un système automatique de gravure
EP0433013A2 (fr) * 1989-12-15 1991-06-19 Sony Corporation Méthode pour introduire des données de configuration tridimensionnelles
WO1992008175A1 (fr) * 1990-10-31 1992-05-14 416604 Alberta Inc. Systeme numeriseur a laser destine a la production de dispositifs prothetiques
WO1992011737A1 (fr) * 1990-12-21 1992-07-09 Tøpholm & Westermann APS Procede de realisation d'otoplasties ou de pieces d'ajustement otiques adaptees individuellement aux contours d'un conduit auditif

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
D.A. WRIGHT: "3D Surface Measurement by Co-ordinate Measuring Machine.", AIRCRAFT ENGINEERING, vol. 62, no. 4, April 1990 (1990-04-01), LONDON GB, pages 13 - 40 *
PATENT ABSTRACTS OF JAPAN vol. 7, no. 57 (P - 181)<1202> 9 March 1983 (1983-03-09) *

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0735446A2 (fr) * 1995-04-01 1996-10-02 Petio Co., Ltd. Dispositif de reproduction tri-dimensionelle
EP0735446A3 (fr) * 1995-04-01 1998-08-05 Petio Co., Ltd. Dispositif de reproduction tri-dimensionelle
NL1006476C2 (nl) * 1997-07-04 1999-01-05 Anthonie Arie De Lange Werkwijze en inrichting voor het vervaardigen van driedimensionale fysieke reproducties.
WO1999001854A1 (fr) * 1997-07-04 1999-01-14 Anthonie Arie De Lange Procede et dispositif de production de reproductions physiques tridimensionnelles
US6498961B1 (en) 1997-09-29 2002-12-24 Umh Universal Master's Head S.A. Method for making and reproducing at least part of an object or a person
WO1999016629A1 (fr) * 1997-09-29 1999-04-08 Umh Universal Master's Head Procede de fabrication et de reproduction d'au moins une partie d'un objet ou d'un individu
FR2768967A1 (fr) * 1997-09-29 1999-04-02 Liliane Hermet Procede de fabrication et de reproduction d'au moins une partie d'un objet ou d'un individu
EP1279136A1 (fr) * 2000-04-06 2003-01-29 Solid Terrain Modeling Appareil d'imagerie tridimensionnelle a haute resolution destine a des modeles topographiques et 3d
EP1279136A4 (fr) * 2000-04-06 2005-02-09 Solid Terrain Modeling Appareil d'imagerie tridimensionnelle a haute resolution destine a des modeles topographiques et 3d
US7291364B2 (en) 2000-04-06 2007-11-06 Solid Terrain Modeling Hi-resolution three-dimensional imaging apparatus for topographic and 3d models
DE10132226A1 (de) * 2001-06-29 2003-01-16 Kpv Ag Bern Verfahren zur Herstellung einer dreidimensionalen Kopie von einem als Vorlage dienenden Körper und Anlage zur Durchführung des Verfahrens
EP1433112A4 (fr) * 2001-09-07 2007-09-05 Elastic Image Inc Systeme et procede de transformation d'images graphiques
EP1433112A1 (fr) * 2001-09-07 2004-06-30 Elastic Image, Incorporated Systeme et procede de transformation d'images graphiques
US7555157B2 (en) 2001-09-07 2009-06-30 Geoff Davidson System and method for transforming graphical images
JP2008532812A (ja) * 2005-03-15 2008-08-21 レオナルド・ルイス・ディ・ベネデット 数値制御彫刻機
ES2267375A1 (es) * 2005-03-15 2007-03-01 Leonardo Luis Di Benedetto Maquina grabadora por control numerico.
WO2006097560A1 (fr) * 2005-03-15 2006-09-21 Leonardo Luis Di Benedetto Machine a graver a commande numerique
US7854068B2 (en) 2005-03-15 2010-12-21 Leonardo Luis Di Benedetto Numeric control engraving machine
FR2883504A1 (fr) * 2005-03-25 2006-09-29 Patrick Yves Roger Bedard Procede de reproduction d'une oeuvre sur une surface
EP1744147A1 (fr) * 2005-07-13 2007-01-17 Sgl Carbon Ag Procédé et dispositif pour le contrôle optique de parties composantes de freins et d'embrayages en céramique à carbone
EP1902858A1 (fr) * 2006-09-22 2008-03-26 Patrick Yves Roger Bedard Procede de reproduction d'une oeuvre sur une surface
US7637023B2 (en) 2007-12-14 2009-12-29 Toyota Motor Engineering & Manufacturing North America, Inc. Threaded stud position measurement adapter
RU2629574C2 (ru) * 2015-12-29 2017-08-30 Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВО "МГТУ "СТАНКИН") Устройство для лазерного спекания изделия из порошкообразных материалов
RU2630151C2 (ru) * 2015-12-29 2017-09-05 Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВО "МГТУ "СТАНКИН") Устройство для лазерного спекания изделия из порошкообразных материалов

Also Published As

Publication number Publication date
ITTO930332A1 (it) 1994-11-13
IT1270945B (it) 1997-05-26
ITTO930332A0 (it) 1993-05-13

Similar Documents

Publication Publication Date Title
CN105627992B (zh) 一种快速高精度非接触测绘古建筑的方法
EP1151778B1 (fr) Dispositif de mise en forme de modeles tridimensionnels reels
DE602005006102T2 (de) Elektronisches fotooptisches system zur vermessung, digitalisierung und wiedergabe der externen oberfläche eines dreidimensionalen objekts entweder virtuell oder in kunststoff-, verbund- oder papierartigem material
CN203084734U (zh) 用于再生虚拟物体的系统
DE69628956T2 (de) Abtastvorrichtung und -verfahren
US7555157B2 (en) System and method for transforming graphical images
WO1994027198A1 (fr) Systeme et procede de reproduction d&#39;objets tridimensionnels
EP1424656B1 (fr) Procédé et appareil pour la génération des données de model tridimensionnelles pour machine-outil
CN100396252C (zh) 三维测量和数字化石膏模或阳模的方法和装置
US9956717B2 (en) Mapping for three dimensional surfaces
JP6377353B2 (ja) 印刷装置および印刷方法
Rioux Digital 3D imaging: theory and applications
JP2005509877A (ja) コンピュータ視覚システムの較正方法及びそのシステム
JP2007331257A (ja) 三次元レリーフの作成方法および装置
JPS58501638A (ja) 写真測量のステレオプロツタ−
EP2254759A2 (fr) Réaliser une reproduction en trois dimensions d&#39;une surface en relief en utilisant un moule
JP2008304225A (ja) 絵画表面計測装置及びその計測方法
KR20240023209A (ko) 컴퓨터로 생성된 가상 기준 물체를 구비한 머신 비전 시스템
Sansoni et al. In-field performance of an optical digitizer for the reverse engineering of free-form surfaces
US3988520A (en) Three dimensional image reproduction
US5363159A (en) Three-dimensional photograph
CN108278966A (zh) Sla精度标定系统及标定方法
WO1983004114A1 (fr) Procede et appareil permettant d&#39;effectuer des operations sur des surfaces tridimensionnelles
KR102080506B1 (ko) 광학 3d 스캐너
US20020033819A1 (en) Apparatus and method for three-dimensional scanning of a subject, fabrication of a model therefrom, and the model produced thereby

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CA JP NO US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA