WO2006069748A1 - Dispositif de mesure d'un objet et procede pour utiliser un dispositif de ce type - Google Patents

Dispositif de mesure d'un objet et procede pour utiliser un dispositif de ce type Download PDF

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Publication number
WO2006069748A1
WO2006069748A1 PCT/EP2005/013949 EP2005013949W WO2006069748A1 WO 2006069748 A1 WO2006069748 A1 WO 2006069748A1 EP 2005013949 W EP2005013949 W EP 2005013949W WO 2006069748 A1 WO2006069748 A1 WO 2006069748A1
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WO
WIPO (PCT)
Prior art keywords
measuring
measuring platform
luminous
self
imaging system
Prior art date
Application number
PCT/EP2005/013949
Other languages
German (de)
English (en)
Inventor
Frank Bartl
Bruno Knobel
Charles Findeisen
Original Assignee
Ife Industrielle Forschung Und Entwicklung Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Ife Industrielle Forschung Und Entwicklung Gmbh filed Critical Ife Industrielle Forschung Und Entwicklung Gmbh
Publication of WO2006069748A1 publication Critical patent/WO2006069748A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications

Definitions

  • the invention relates to devices for measuring an object and to methods of using such devices.
  • the invention relates to a device for measuring an object with a cardanically mounted measuring platform, a distance meter, at least one imaging system, a triple mirror applied to the object and a structure applied to the object.
  • a device for example from DE 690 05 106 T2 and EP 0 880 674 Bl.
  • EP 0 880 674 B1 discloses methods which are based on the combination of a distance measurement between the measuring platform and a reflector on the object and the position measurement of several light-emitting diodes on the object by means of a camera with area sensor mounted on the measuring platform.
  • Suitable reflectors are described in EP 0 880 674 B1 as "reflecting points”. These are either “corner cubes” with the property that incident light is reflected back in the same direction, parallel to the incident light beam, or, for example, reflective, circular areas ("dots”) on self-adhesive films, which are attached in suitable places.
  • Distance meters are used to measure the distance between a transmitter and a reflector.
  • the distance meters are based on the transit time measurement of short light pulses, which are directed back into the measuring system by a reflector, or they are based on interferometric methods or they are based on modulated laser light, wherein the distance can be measured as an absolute value by means of phase comparison.
  • a laser tracker consists of a distance meter whose laser beam is directed in a controlled manner into the room.
  • both the distance to a reflector unit and the spatial direction of the laser beam are measured and evaluated by means of directional sensors by means of the integrated evaluation unit.
  • the laser beam is aligned so that it falls on the reflector during the distance measurement. This requires that the laser tracker be tracked to the reflector.
  • the patent EP 0 880 674 B1 describes in detail with which sensors this object can be achieved.
  • the measuring platform can track the moving object in the room because it is multi-axially connected to a tripod.
  • the distance between laser tracker and reflector is measured interferometrically, the spatial direction of the laser beam via high-resolution angle encoders.
  • Tracking methods ie methods in which measured samples are detected in a controlled manner, tracked and at the same time their spatial position or spatial positions are determined, are described, for example, in EP 0 880 674 B1.
  • An imaging system hereafter called a camera, consists of a lens system, a two-dimensional sensor, such as a CCD or CMOS sensor, or another photoactive element, such as a position sensing device (PSD).
  • the optics are advantageously equipped with a bandpass filter to receive only the wavelength emitted by the illumination.
  • the sensor can be used in whole or in part.
  • the invention is based on the object of designing a method of the type mentioned at the outset such that the measuring process can be designed inexpensively, quickly, precisely and in a user-friendly manner by suitable combination of partially established measuring techniques.
  • the structure has at least one coarse structure and one fine structure.
  • a particularly advantageous embodiment provides that the fine structure is arranged within the coarse structure. Cumulatively or alternatively, it is proposed that the coarse structure and the fine structure are arranged adjacent to one another. It has proven advantageous if the fine structures are arranged closer to the triple mirror than the coarse structure. Different embodiments show that the structure may consist of several areas which are arranged around the triple mirror. Furthermore, it is advantageous if the patterns become larger with increasing distance to the triple mirror.
  • a variant provides that the structure is self-luminous or at least has a self-illuminating area. Another variant proposes that the structure is not self-luminous and has reflective, absorbent, matt, glossy, phosphorizing or fluorescent materials.
  • a light source for illumination preferably on the measuring platform.
  • a scanner can also be arranged for illumination, preferably on the measuring platform. It is advantageous if the scanner deflects a distance meter. Furthermore, it is proposed that the scanner deflects a laser. Finally, it is suggested that the scanner deflect a retroreflective beam of light onto a photosensor on the measurement platform.
  • a preferred embodiment provides that the distance meter is arranged on the measuring platform.
  • a particularly advantageous variant provides that the imaging system, a light source and a distance meter is aligned by means of an optical system by the same optics on the object with at least one, preferably three triple mirrors.
  • a simple rough survey of the position of the object provides that on the measuring platform optical elements such as fish-eye lenses or cassette-like sensors and on the object a light emitter are arranged.
  • Another device for measuring an object and the structure mounted on the object provides that the structure is formed by at least three spherical wave transmitters and a receiving sensor.
  • an imaging system be formed by at least three receiving sensors and a spherical wave sensor. It is advantageous in each case if a GPS receiver is arranged on the measuring platform and the object.
  • a method of using a device provides that the distance between a point on the measuring platform and the tripple mirror is determined, the angles of the straight lines defined by this point and the triple mirror center point with respect to the coordinate system of the measuring head are determined, a sensor image with the imaging system of the structure attached to the object or parts of the structure is generated, compared with a stored reference image of the structure and the spatial position of the object is determined from it.
  • partial areas of the sensor image can each be compared with the corresponding partial areas of the reference image.
  • the measurement platform which forms the center of a sphere, and a peripherally moving object provided with corresponding sensors and actuators are interacting in such a way that the spatial position of the object with respect to the coordinate system of the measurement platform can be determined unambiguously.
  • the measuring platform can be moved by two axes of rotation, with angular decoders positioned on a motorized stand, as is the case with a gimbal, so that it can see and measure parts of or all of the enclosing sphere.
  • the object may be, for example, a probe, which is guided by hand or firmly connected to a higher-level system, such as a robot.
  • the measuring platform on the stand is stationary in space and without knowledge of the location coordinates or positioned on a movable and controllable via the measuring system track. If the spatial position of the measuring head is determined by additionally attached sensors such as GPS, compass, horizon and solder giving sensors, or distance meters, then absolute measurements in position coordinates of the material to be measured can be calculated in addition to the relative measurement. Together with the mobile application, the measuring volume expands to almost unlimited size.
  • the device has a measuring head, which consists of a measuring platform, which is freely rotatable on two triples mounted on a tripod, and a freely movable in space, rigid object.
  • the measuring platform and the object to be measured interact in such a way that the spatial position of the object can be uniquely determined.
  • the measurement platform includes two or more imaging systems, such as cameras, to use triangulation measurement to determine the spatial positions of clearly determinable surface structures on the object, such as luminescent structures.
  • the spatial position of the object and the spatial position of an object point, such as the stylus tip, are calculated by means of the geometric knowledge of the structure and the object.
  • the surface structures are either non-self-luminous structures, such as reliefs, gray value patterns, color patterns, or self-luminous structures, or a suitable combination of these.
  • the non-self-luminous structures may have a suitable combination of highly reflective, absorbent, matt, glossy, fluorescent or phosphorescent surfaces.
  • the spatial position of the object is determined by means of classical photogrammetry, an established and reliable method, or by correlation calculation of the entire structure or by a combination of both methods.
  • the accuracy in determining the spatial position of the object can be increased.
  • a moving object is thus accurately tracked and its spatial positions precisely detected by determining the spatial position of the searched object in a sequence of images with the help of photogrammetric methods.
  • correlation calculations in the image sequence can be carried out per camera over the entire image content of the surface structure or over selected subregions of the object. If this method is used iteratively, the solid angles from the photogrammetry can be increased in a further calculation step. Depending on requirements, the process is applied several times. This method makes it possible to achieve high accuracies with simple techniques, in contrast to the known methods mentioned at the outset, which use point-type reflectors and light sources.
  • the measurement platform can also include a laser scanner.
  • a laser scanner As a result, arbitrarily definable light patterns can be generated on the object surface with a suitable structure of the type mentioned above.
  • the spatial position of the object can be determined.
  • a method for stereometric measurement with several cameras on a measuring head combined with a laser scanner for targeted illumination of objects in the room with defined patterns is described in the earlier, German patent application 10 2004 032 643 Al.
  • the direct distance from the measuring head to the object to be measured can additionally be determined in a supplementary, independent way.
  • the method and the device can be used for additional accuracy enhancement for systems with self-illuminating and non-self-luminous surface structures of the objects.
  • distance sensor Ren come both systems with transit time measurement in question, for which no special reflectors must be attached to the measurement object, as well as systems that require highly reflective areas on the object to be measured, such as triple mirrors.
  • a distance meter and an imaging system are sufficient.
  • the combination of imaging systems and a distance meter on the measuring platform with triple mirror and self-luminous or non-self-luminous surface structures on the object allows the measurement of the spatial position of the object relative to the measuring head.
  • the measuring platform includes a distance meter, which is guided by a camera optics
  • measuring methods can be used, which use shutter or deflection functions to direct the distance sensor sequentially to several triple mirrors or the like mounted on the measurement object in order to detect the spatial distance on the one hand and the lateral one on the other hand
  • the reflectors can also be selectively illuminated.
  • the measuring system may include an expanded light source which illuminates the entire object.
  • the reflectors throw reflected light back through the transmitting optics into the receiving sensors, for example the distance meter or the imaging system. This will replace the laser scanner.
  • a photodiode In combination with a laser scanner and a distance meter, a photodiode is sufficient to measure the distances and solid angles to at least three reflectors mounted on the measurement object. By suitable combination of the deflection angle obtained by the laser scanner with the signal of the photosensor so that the spatial position of the object can be determined.
  • a system consisting of several light sources and time meters distributed in space.
  • a suitable light signal is sent from the transmitter unit on the measuring platform to the object to be measured.
  • a signal is transmitted via a receiver diode on the object, each with a constant time offset from spatially distributed light sources.
  • these light signals travel as spherical waves to the measuring system, where the transit times are measured by means of sensors at at least three points.
  • the corresponding distances can be calculated.
  • the evaluation algorithm in the measuring system can be designed to be self-learning or interactive by continuously evaluating the measurement results and returning the adjustment information to the measurement platform. In this way it is possible to exactly determine the trajectory of a moving object in real time.
  • the measuring system has a small size and can therefore be transported conveniently, its construction can be carried out in a telescopic or in a fold-out design.
  • the system can be calibrated with an independent third-party system or one can hold a defined object in the measuring volume, which is then calibrated by the measuring system itself.
  • Self-calibration can be achieved automatically in systems with at least two cameras using any flat surface, ie a first-order surface: the system must be placed in a room with a flat surface. Then it looks for a usable plane, creates a specific light pattern and receives the image on all cameras. With suitable software, the calibration is accomplished.
  • the procedure is to be designed in such a way that the measuring platform with the light-emitting and image-capturing units can be rotated about two axes.
  • the measuring platform is gimbal stored and adjusted in two axes.
  • the set relative angular positions are detected very precisely by means of angle decoders.
  • the discovery of the object is based on known techniques. For example, a camera with a fish-eye lens on the measuring platform can measure the spatial direction to a light-emitting diode on the object with sufficient accuracy so that the measuring platform can be aligned with the object.
  • Another technique consists, for example, in that a GPS receiver is mounted both on the object and on the measuring platform and these communicate with each other, for example by means of WLAN, so that the relative position of the object to the measuring platform is known with sufficient accuracy for the corresponding alignment of the object measurement platform.
  • the data processing in the camera includes a sequence consisting of a background image without active light source and the subsequent series of images with exposure, an optoelectronic correction for each pixel, as well as statistical information of the image data after the subtraction of the background recording, such as sectoral histograms, histograms per row and column, mean, minima and maxima of gray value information.
  • the sequence may include a background shot alternating with each shot, or if the background is low or not moving, a background shot may be used for a longer frame of images become.
  • image compression in sub-images with, for example, 4 ⁇ 4 or 8 ⁇ 8 pixels in the data flow when reading out the images from the sensor is calculated.
  • the device presented here is based on cameras that have optics with fixed focal lengths.
  • the field angle of these cameras is constant.
  • the entire surface structure is typically imaged on the sensor, while in the near field only part of the structure is detected by the sensor.
  • the entire structure is imaged on the sensor, but only the coarser structures are sufficiently resolved by the sensor.
  • the fine structures are sufficiently resolved by the sensor, but only a part of the structure is imaged on the sensor.
  • the image size of the structure varies in such a way with the distance between the camera and the object that only part of the sensor is occupied in the far field, while in the after field the imaged part of the structure occupies the entire sensor.
  • the structures are adapted accordingly, so that over the entire distance range between camera and object, a sufficiently good resolution can be achieved without transition.
  • the surface structure consists of areas of different fine structures. Coarse and fine structures can penetrate.
  • the optical axis of the camera is always aligned to the area with the finest structure. If the object contains a triple mirror, then the area with the finest structure is arranged around it. The triple mirror does not have to be in the center of coarser structures.
  • the image of the structure on the sensor contains many more pixels with gray scale information than the usual devices with luminous dots.
  • the accuracy of the orientation of the body in space is thus improved.
  • quality statements can be made about the state of the object during the measurement.
  • deformations on the object provided with structures can be specifically detected.
  • a self-luminous structure is created by a backlight behind a masked structure.
  • This backlight can be a spreader analog be an integrating sphere, so that an approximately homogeneous luminance is generated.
  • Another possibility is the use of self-luminous area displays such as OLED (organic LED) with high contrast and luminance.
  • Self-luminous structures can also be created by projecting patterns onto the object.
  • the projection unit may be inside or outside the object.
  • the structure is typically static. However, it can also be dynamic, for example by varying the degree of fineness of the structure or the extent of the illuminated structure by the distance of the object from the camera.
  • the integration time must be kept short for moving objects. The more accurate the measurement of the body orientation is, the shorter must be either the sensor exposure time or, alternatively, the light pulse of the self-luminous or illuminated structure.
  • the object structure must meet the required measurement accuracy of the overall system.
  • the accuracy of the orientation determination of an object depends, among other things, on the structure size, the details of the structure, the luminance or illuminance of the structure, the distance camera object or the electro-optical properties of the camera.
  • Three-dimensional structures provide more accurate orientation determination than flat structures.
  • the structure should contain a tripple mirror for the distance measurement.
  • the structure consists of self-luminous or non-self-luminous lines with different widths, so that the images on the digital sensor have optimal line widths for the applied subpixel evaluation.
  • the lines used in the evaluation must not be too fine in relation to the pixel size, so that no unwanted moiré effects occur.
  • the structure is formed in three dimensions. It should be noted that the entire structure for all required tilt angle and distances from the camera are sufficiently visible.
  • the entire structure can serve to verify the inherent integrity and stylus tip.
  • the information of the current structure is continuously compared with the structure before the measurement process.
  • body deformations can be detected during crash tests of assemblies which are intentionally induced during the measurement.
  • the position of the probe tip with respect to the structure can be checked by means of a suitable movement of the body around the probe tip.
  • the information of the current structure and the current position of the probe tip with respect to the structure is continuously compared with the corresponding values before the measurement.
  • An optical bandpass filter must be installed in front of the sensor so that as much of the ambient light as possible is kept away from the sensor. In addition, it should be noted that no light from other system elements such as laser reaches the sensor. Disturbing secondary light scattering can be reduced by differentiating images with and without structure illumination.
  • the structure surfaces should be sufficiently wear-resistant and covered with a transparent, thin, dirt-repellent layer.
  • a transparent, thin, dirt-repellent layer for example, sapphire is suitable.
  • the protective layer can be Epilame, which has been used successfully in the watch industry for many decades.
  • the laser beam of the distance meter on the measuring platform is aligned with the center of the triple mirror.
  • the alignment angles of the distance meter refer to the coordinate system of the measuring head.
  • the distance meter determines along the optical axis the distance between a predetermined point on the measuring platform and the center of the triple mirror.
  • the coordinates of the center of the triple mirror with respect to the coordinate system of the measuring head are known.
  • the spatial orientation of the object is determined with respect to the now known center of the triple mirror by the evaluation of the sensor image of the structure on the object.
  • the method is based on the comparison (correlation) of the image of the structure with the known reference image of the structure.
  • the structural information is not reduced to a few points that are distinguished by certain symmetries. Rather, the entire image area or partial areas thereof are used directly in the comparison.
  • the correlation technique can
  • the sensor image is condensed by merging pixel regions into one "larger pixel", thus making the total number of "larger pixels” smaller than the number of "normal pixels.” For example, squares of the side length become such
  • the further evaluation of the thus condensed sensor image is still based on the direct comparison with the reference image, thus obtaining a first approximation for the parameters of the spatial orientation of the object.
  • the sensor image is split into several images that are created by parallel horizontal sections. These distributions allow obtaining a first approximation of the parameters of the Spatial orientation of the structure. Jamming of the parallel of the horizontal sections can also be applied to vertical sections or diagonal cuts,
  • the sensor image is split into subareas that are all individually correlated with corresponding subregions of the reference image. For example, intersecting lines are evaluated in their entirety and the intersection point is not determined.
  • the structure around the triple mirror is suitable (for example with contrast differences) to measure the roll angle.
  • Fig. 1 shows a schematic representation of the device for measuring the spatial positions of moving objects. At least one camera and a distance meter are mounted on a gimbal-mounted measuring platform. On the object are a triple mirror as well as active point light sources, such as light emitting diodes,
  • Fig. 2 shows a schematic representation of a manually guided object (probe).
  • FIG. 3 shows a schematic representation of the device for measuring the spatial positions of moving objects.
  • Several gauging systems such as cameras, are mounted on the gimbal-mounted measuring platform.
  • On the object surface is a self-luminous structure, for example, consisting of straight or curved lines, areas with gray scale gradations or their combinations. This structure is imaged on the stereometrically arranged imaging systems and determines their spatial position with suitable algorithms.
  • the GPS systems and the transceivers on the measuring platform and on the object are used to align the measuring platform with the object at the beginning of the measurement
  • 4 shows a schematic representation of a self-luminous structure on the object surface
  • Fig. 5 shows another embodiment of the inventive arrangement for measuring the
  • At least two imaging systems a laser scanner consisting of a mirror system and a laser, are mounted on the measuring platform.
  • Any non-self-luminous surface structure such as a relief or gray pattern of suitable reflective materials, or a combination thereof, which is suitably sequentially illuminated by the laser scanner, is mounted on the object.
  • Fig. 6 shows another inventorsfo ⁇ n the inventive arrangement for measuring the
  • At least one imaging system and a distance meter are mounted on the measuring platform.
  • Mounted on the object are a reflector, for example a triple mirror, as well as a self-luminous structure according to FIG. 4,
  • FIG. 7 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects: at least one imaging system, a distance meter and a wide-angle light source are mounted on the measurement platform. On the object, a reflector, for example a triple mirror, and any non-self-luminous structure, as described in Fig. 5, attached,
  • Fig. 8 shows a further embodiment of the inventive arrangement for measuring the
  • the measuring platform has at least one imaging system and a distance meter aimed at the object by means of a mirror system.
  • the object has the same surface design as in FIG. 6,
  • Fig. 9 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects: On the measuring platform, an imaging system, a distance meter and a wide-beam light source are mounted, all by means of a suitable arrangement of optical elements by the same optics on the object are directed. At least three triple mirrors are attached to the object,
  • FIG. 10 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects: on the measuring platform there is a distance measurement. and a laser, whose light beams are deflected by a common scanner, and an imaging system, which are directed by a suitable arrangement of optical elements by the same optics on the object.
  • a self-luminous structure as described in Fig. 4, and a plurality of triples mounted,
  • FIG. 11 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects:
  • On the measuring platform are a distance meter and a laser whose light beams are deflected by a common scanner and a photosensor, all by means of a suitable arrangement of optical elements are directed to the object through the same optics.
  • At least three strongly reflecting areas, such as triple mirrors, are mounted on the object,
  • Fig. 12 shows a further embodiment of the inventive arrangement for measuring the
  • the measuring platform contains a transmitter and at least three receivers for measuring the propagation time of spherical wave fronts, such as
  • Light pulses or radar waves On the object a receiver and at least three transmitters are attached and
  • FIG. 13 shows a schematic representation of the signal sequence for transit time measurements for determining the spatial positions of moving objects.
  • FIG. 14 shows a schematic representation of a self-luminous or non-self-luminous structure on the object surface with a rectangular grid pattern.
  • the black colored lines of the grid pattern are places with high brightness and constant luminance or high reflectivity.
  • the areas around the black colored lines absorb the light.
  • In the center of the triple mirror is arranged.
  • FIG. 15 shows a further schematic representation of a structure on the object surface with a circular grid pattern having the same properties as in FIG. 14.
  • FIG. 16 shows a further schematic representation of a structure on the object surface with an elliptical lattice pattern having the same properties as in FIG. 14.
  • FIG. 17 shows a further schematic representation of a structure on the object surface with an octagonal grid pattern with the same properties as in FIG. 14.
  • FIG. 18 shows another schematic representation of a structure on the object surface consisting of eight sectors with cross patterns with the same properties as in FIG. 14.
  • FIG. 19 shows a further schematic representation of an object with a stylus tip and a structure on the object surface.
  • the structure on the object surface is an eight-beam
  • Fig. 20 shows a schematic representation of intersecting lines.
  • the black colored lines or areas are places with high brightness and constant luminance or high reflectivity.
  • the non-blackened areas absorb the light.
  • FIG. 21 shows a further schematic representation of a structure arranged around the triple mirror with the same properties as in FIG. 14.
  • FIG. 22 shows a further schematic illustration of a structure arranged around the triple mirror with the same properties as in FIG. 14.
  • FIG. 23 shows a further schematic illustration of a structure arranged around the triple mirror with the same properties as in FIG. 14.
  • FIG. 24 shows a further schematic illustration of a structure arranged around the triple mirror with the same properties as in FIG. 14.
  • FIG. 25 shows a further schematic representation of a structure arranged around the triple mirror with the same properties as in FIG. 14.
  • FIG. 26 shows a further schematic illustration of a structure arranged around the triple mirror and consisting of sectors.
  • the black-colored sectors are places with high brightness and constant luminance or high reflectivity.
  • the non-black colored sectors absorb the light.
  • the coordinate system with center in the triple mirror center point shows the alignment angles.
  • FIG. 1 and 2 The devices shown schematically in Figures 1 and 2 are representative of the prior art and are used for non-contact measurement of the spatial position of an object 10 with respect to a measuring head 1.
  • a measuring platform 6 is mounted, for example on a tripod 2 and in front of the object 10 posed.
  • the measuring platform 6 is stored at 3 single or multi-axis. With motorized adjustment 5 arbitrary solid angles can be approached on the sphere.
  • the positions of the measuring platform 6 are detected by exact angle decoder 4.
  • At least one imaging system 7 with preferably a CCD area sensor and a distance meter 8 are mounted on the measurement platform 6.
  • the spatial position of the object is determined by the distance between the distance meter 8 and the Trippelapt 11 and the image information of the imaging system 7 of the LEDs determined.
  • the apparatus shown schematically in Fig. 3 shows the essential elements of the invention for measuring the spatial positions of moving objects 10, such as buttons with the probe tip 13.
  • On the two-axis, preferably gimbal, mounted measuring platform 6 at 3 are several imaging Systems 7, such as cameras, attached.
  • On the object surface 10 is a self-luminous structure 14, for example consisting of straight or curved lines of finite thickness, surfaces with gray scale patterns or combinations thereof, as shown in Fig. 4.
  • This structure 14 is imaged onto the stereometrically arranged imaging systems 7. With appropriate algorithms, the spatial position of the structure 14 and with the geometric knowledge and the spatial position of the probe tip 13 are determined.
  • FIG. 5 shows another embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • At least two imaging systems 7, a laser scanner consisting of a mirror system 18 and a laser 17 with the optics 21, are now mounted on the measurement platform.
  • a non-self-luminous structure 19 is mounted, which is illuminated by the laser scanner 17, 18 sequentially in a suitable manner.
  • FIG. 6 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • at least one imaging system 7 and a distance meter 8 are mounted on the measuring platform.
  • a reflector 11 for example, a triple mirror, and a self-luminous structure 14 as shown in FIG. 4 are attached.
  • FIG. 7 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects. Now are on the
  • Measuring platform 6 at least one imaging system 7, a distance meter 8 and a wide-beam
  • Light source 22 is mounted, which are directed by means of the optics 21 to the object 10.
  • a reflector 11 such as a triple mirror, and any non-self-luminous structure 19 are mounted.
  • FIG. 8 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • At least one imaging system 7 and a laser 17 directed onto the object 10 by means of a scanner 18 and the optics 21 and a distance meter 8 are now mounted on the measuring platform 6.
  • a reflector 11 such as a triple mirror, and a suitable combination of self-luminous 14 and non-self-luminous structures 19 are attached.
  • FIG. 9 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects. Now are on the
  • the distance meter 8 is directed sequentially by means of alignment of the measuring platform 6 on the individual triple mirror 11.
  • FIG. 10 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • a distance meter 8 and a laser 17, whose light beams are deflected by a common scanner 18, and an imaging system 7, all of which are directed by a suitable arrangement of optical elements 26 through the same optics 21 onto the object 10 are.
  • On the object 10 are a self-luminous structure 14, as described in Fig. 4, and a plurality of triple mirrors
  • FIG. 11 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • a distance meter 8 and a laser 17, whose light beams are deflected by a common scanner 18, and a photosensor 23 are mounted, which are all directed by a suitable arrangement of optical elements 26 through the same optics 21 to the object 10 , At least three highly reflective areas, such as triple mirrors 11, are mounted on the object 10.
  • FIG. 12 shows a further embodiment of the arrangement according to the invention for measuring the spatial positions of moving objects.
  • a receiver 23 and at least three transmitters 24/1, 24/2, 24/3 are mounted.
  • FIG. 13 schematically shows the signal sequence for transit time measurements for determining the spatial positions of moving objects.
  • the transmitter 27 of the measuring platform 6 emits at a time interval 35 light pulses, which are received at a time interval 29 from the mounted on the object 10 receiver 23.
  • Each of these received by the receiver 23 light pulse triggers at the transmitters 24/1, 24/2, 24/3 of the object 10 at a time offset at intervals 30, 34, etc.
  • light pulses from the installed on the measuring platform 6 receivers 28/1, 28/2, 28/3 are received and at each of these receivers 28/1, 28/2, 28/3 at intervals 31, 32, 33 trigger light signals, which are used for the transit time measurement of spherical wave fronts.
  • the pulses following each such light pulse of the transmitter 27 at the transmitters 24 and receivers 28 are shown in FIG. 13 only for the first light pulse 27.
  • FIG. 13 refers by way of example to a device with three transmitters 24/1, 24/2, 24/3 on the object 10 and with three receivers 28/1, 28/2, 28/3 on the measuring platform 6. According to the invention, however, any other number of transmitters 24 / n and receivers 38 / n considered suitable can be used.
  • FIGS. 14 to 26 show some embodiments of the self-luminous structure 14 or non-self-luminous structure 19 with a combination of geometrical patterns 15 and gray value patterns 16 on the object 10.
  • a triple mirror 11 is always integrated.
  • the optical axis of the camera is always aligned during the measurement on the triple mirror.
  • the fine pattern areas 39 for the near field are arranged around the tripple mirror.
  • the coarser the pattern 40-42 the farther away these areas are from the triple mirror.
  • a zone 43 with a combination of fine to very coarse patterns can also be used to increase the accuracy of the orientation.
  • Orientation aids 44 integrated in the structure are symmetry-breaking, geometric elements.
  • the structure 14 can be flat or three-dimensional. Three-dimensional structures allow a higher accuracy in the orientation of the object than flat structures.
  • the boundaries 45 and 46 may be in the same plane. However, the boundary 46 may also be wholly or partially outside the plane containing the boundary 45.
  • the circular grid pattern in FIG. 15 may be flat.
  • a three-dimensional structure may have the shape of a funnel or a cone. The circular grid pattern thus lies on the mantle surface of a funnel or cone thus formed with the tripple mirror in the funnel center or on the apex of the cone. Analogously, the above explanations for FIG. 15 also apply to FIGS. 14, 16 to 25.
  • a further three-dimensional structure can be formed by the sectors 47 lying in the plane in FIG. 18 and the sectors 48 being formed as inclined planes.
  • the sectors 48 touch the plane at area 45 and continuously increase to the boundary 46.
  • Sectors 47 and 48 are planar substructures.
  • the sectors 48 may descend continuously behind the plane spanned by the sectors 47.
  • the areas 49 between the sectors 47 and 48 may also be formed as inclined planes with corresponding geometric patterns. This allows a further increase in the accuracy of the orientation of the object.
  • FIG. 19 shows a possible embodiment of an object 10 with a measuring tip 13, which is provided with a three-dimensional structure comprising eight sectors 47 and 48 and a triple mirror 11.
  • the sectors are equipped with the patterns 39 to 42.
  • the black lines and crosses 39 to 42 are areas of constant luminance and high brightness or high reflectivity.
  • the marks 44 serve as the orientation of the structure.
  • Each of the eight sectors has a flat surface.
  • Four of the eight sectors 47 lie in the same plane as the area 45 next to the triple mirror 11.
  • the other four sectors 48 are inclined at a certain angle with respect to the plane.
  • These sectors 48 represent inclined planes analogously as in FIG. 18.
  • the regions 49 between the sectors 47 and 48 can also be formed as inclined planes with corresponding geometric patterns. This allows a further increase in the accuracy of the orientation of the object.
  • the basic geometric elements of self-luminous structures can be lines 50 with constant radiance and high brightness (Figure 20).
  • the area 51 around these glowing lines is not bright.
  • the bars 51 may not be self-luminous. Now they are embedded in luminous areas 52.
  • the luminous areas 52 are surrounded by non-luminous areas 51.
  • the lines 50 are of high reflectivity ( Figure 20).
  • the area 51 around these reflective areas absorb the light.
  • the bars 51 may be absorbent and the area 52 may be high reflectivity.
  • Figures 21 to 26 show further possible structures on the object surface. All of the structures shown in FIGS. 14 to 26 are based on the structures 14 and 19. [87] The spatial position of the object is determined by correlation of the known structure with the measured structure. Neither the entire structure nor parts of it are reduced to a geometric point.

Abstract

L'invention concerne un dispositif de mesure d'un objet comportant une plate-forme de mesure montée à la cardan, un appareil de mesure de distances, au moins un système imageur, un miroir triple placé sur l'objet ainsi qu'une structure placée sur cet objet, laquelle structure comporte des motifs géométriques constitués de lignes et de surfaces délimitées.
PCT/EP2005/013949 2004-12-23 2005-12-22 Dispositif de mesure d'un objet et procede pour utiliser un dispositif de ce type WO2006069748A1 (fr)

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DE102006021063B3 (de) * 2006-05-03 2007-09-06 Aicon 3D Systems Gmbh Markierungskörper für eine dreidimensionale photogrammetrische Vermessung eines Objekts
DE102012008905A1 (de) * 2012-05-08 2013-11-14 Airbus Operations Gmbh Optische Messvorrichtung und Verschiebeeinrichtung und optisches Messverfahren
DE102014012693A1 (de) * 2014-09-01 2016-03-03 Hochschule RheinMain University of Applied Sciences Wiesbaden Rüsselsheim Geisenheim System zur Positions-und Lagebestimmung von Objekten
EP3017317B1 (fr) 2013-07-04 2019-02-13 Philips Lighting Holding B.V. Procédé de détermination d'orientation
DE102019114531B4 (de) * 2019-05-29 2021-06-17 Soft2Tec Gmbh Vorrichtung zur Lage- und Positionserkennung von Markierungen im dreidimensionalen Raum
WO2021259523A1 (fr) 2020-06-25 2021-12-30 Soft2Tec Gmbh Appareil de détection de l'emplacement et de la position de repères, et produit-programme informatique
DE102020118407A1 (de) 2020-07-13 2022-01-13 Soft2Tec Gmbh Vorrichtung und Verfahren zur Lage- und Positionserkennung von Markierungen im dreidimensionalen Raum

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EP0880674B1 (fr) * 1995-10-12 2002-02-27 Metronor ASA Systeme de mesure point par point de coordonnees spatiales
US20030107737A1 (en) * 2001-12-10 2003-06-12 Xerox Corporation Six degree of freedom position ranging

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EP0880674B1 (fr) * 1995-10-12 2002-02-27 Metronor ASA Systeme de mesure point par point de coordonnees spatiales
US20030107737A1 (en) * 2001-12-10 2003-06-12 Xerox Corporation Six degree of freedom position ranging

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006021063B3 (de) * 2006-05-03 2007-09-06 Aicon 3D Systems Gmbh Markierungskörper für eine dreidimensionale photogrammetrische Vermessung eines Objekts
DE102012008905A1 (de) * 2012-05-08 2013-11-14 Airbus Operations Gmbh Optische Messvorrichtung und Verschiebeeinrichtung und optisches Messverfahren
US9279669B2 (en) 2012-05-08 2016-03-08 Airbus Operations Gmbh Optical measuring device with a slider and optical measurement method
EP3017317B1 (fr) 2013-07-04 2019-02-13 Philips Lighting Holding B.V. Procédé de détermination d'orientation
DE102014012693A1 (de) * 2014-09-01 2016-03-03 Hochschule RheinMain University of Applied Sciences Wiesbaden Rüsselsheim Geisenheim System zur Positions-und Lagebestimmung von Objekten
DE102014012693B4 (de) * 2014-09-01 2019-11-14 Hochschule RheinMain University of Applied Sciences Wiesbaden Rüsselsheim Geisenheim System und Verfahren sowie Computerprogramm zur Positions-und Lagebestimmung von Objekten
DE102019114531B4 (de) * 2019-05-29 2021-06-17 Soft2Tec Gmbh Vorrichtung zur Lage- und Positionserkennung von Markierungen im dreidimensionalen Raum
WO2021259523A1 (fr) 2020-06-25 2021-12-30 Soft2Tec Gmbh Appareil de détection de l'emplacement et de la position de repères, et produit-programme informatique
US11815345B2 (en) 2020-06-25 2023-11-14 Soft2Tec Gmbh Device for orientation and position detection of markings in three-dimensional space
DE102020118407A1 (de) 2020-07-13 2022-01-13 Soft2Tec Gmbh Vorrichtung und Verfahren zur Lage- und Positionserkennung von Markierungen im dreidimensionalen Raum
WO2022012899A2 (fr) 2020-07-13 2022-01-20 Soft2Tec Gmbh Dispositif et procédé de détection d'emplacement et de position de marquages dans l'espace tridimensionnel

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