WO2013057192A1 - Procédé de mesure et de visualisation des conditions régnant dans l'espace interne d'un poste de fabrication - Google Patents

Procédé de mesure et de visualisation des conditions régnant dans l'espace interne d'un poste de fabrication Download PDF

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Publication number
WO2013057192A1
WO2013057192A1 PCT/EP2012/070654 EP2012070654W WO2013057192A1 WO 2013057192 A1 WO2013057192 A1 WO 2013057192A1 EP 2012070654 W EP2012070654 W EP 2012070654W WO 2013057192 A1 WO2013057192 A1 WO 2013057192A1
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WO
WIPO (PCT)
Prior art keywords
aircraft
production
model
virtual
factory
Prior art date
Application number
PCT/EP2012/070654
Other languages
German (de)
English (en)
Inventor
Edward Brooks
Thomas LEPEL
Christian ROSSMÜLLER
Bernd Korves
Gerald MECKL
Aclan Okur
Martin SCHÖNFELDER
Original Assignee
Siemens Aktiengesellschaft
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
Priority claimed from DE201110085003 external-priority patent/DE102011085003A1/de
Priority claimed from DE201110085001 external-priority patent/DE102011085001A1/de
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2013057192A1 publication Critical patent/WO2013057192A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

Definitions

  • the invention relates to a method for measuring a production facility with production facilities.
  • the spatial dimensions of an aspect of the production site to be assessed are determined.
  • the dimensions are combined to form a dataset describing the aspect of the manufacturing facility to be assessed.
  • the aspects to be assessed may be all the space information relevant to the manufacturing process carried out at the manufacturing site.
  • the main considerations are, of course, the geometric conditions of the manufacturing facility.
  • Under the spatial dimensions of this aspect to be assessed so in particular the dimensions of the manufacturing facilities are to be understood.
  • the method also serves to visualize the spatial conditions of the manufacturing facility, whereby a large number of digital images is produced by the production facility.
  • other aspects of the manufacturing facility may be important. For example, the formation of heat.
  • a production facility is to be understood as a structure which consists of at least two production facilities. exists. By this may be meant, for example, a manufacturing cell containing multiple machines. However, as an assembly plant, it is also possible to model a whole factory floor or even an entire factory, for example.
  • manufacturing equipment means all the spatial units required for production. In the narrower sense, this includes machines for processing products, but also means for transporting the products between the different machines as well as other spatial equipment required in the production site. Other physical facilities may include, for example, offices for production managers, routes for employees, etc.
  • optimization processes can be carried out both by means of real model constructions and by means of a computer-aided visualization of production facilities, which allow an optimization of the production processes as well as the space requirement and further aspects before a construction or conversion of the production site.
  • the creation of real or computer-aided models is costly.
  • the object of the invention is to provide a method for measuring and visualizing the spatial relationships of a production facility, with which the effort of creating models of the production facility to be planned is comparatively low and the visual impression is improved.
  • the sensor according to the invention is integrated into an aircraft with which the sensor is moved above the production facilities.
  • the sensor may be different sensors depending on the aspect of the manufacturing site to be detected.
  • sensors of different types can be attached to the aircraft.
  • the geometric dimensions of the production facilities can be determined, for example, with a digital camera as a sensor. In this case, an image processing must be carried out to determine the geometric dimensions of the manufacturing facilities and their placement in the factory.
  • Another possibility is to use distance sensors which, taking into account the current position of the aircraft, allow conclusions to be drawn about the geometry of the production facilities.
  • a thermal imager can be used for heat distribution in the factory.
  • the noise of noise sources can be determined, for example, with directional microphones as a sensor.
  • the use of an aircraft to move the sensor in the manufacturing facility has the advantage that the determination of the aspects to be assessed is relocated to an area of the manufacturing facility, which is naturally less obstructed by manufacturing equipment.
  • the measurement is thus made from a bird's eye view, whereby advantageously the aircraft can move comparatively unhindered. This reduces advantageous the effort in the preparation of the records, as fewer obstacles in the factory in the implementation of the measurement must be avoided.
  • the aircraft may follow a predetermined program to perform the measurement automatically or at least semi-automatically. that the digital images are imported into a virtual environment and are arranged in such a way that the image contents are set in a relationship representing the spatial relationships with one another.
  • a navigation tool is provided in this virtual environment that allows the viewer to select views of the digital images in the virtual environment.
  • the navigation tool thus makes it possible to view the images in a context that reflects the true spatial relationships of the production site.
  • the views may be the images themselves, so that the navigation tool only provides a surface to view the images depending on their perspective and location in the space of the manufacturing facility in a meaningful context.
  • the views it is also possible for the views to contain the information stored on the digital images, which are expediently integrated into the virtual environment (more on this in the following).
  • the virtual environment makes it possible that the inspection of the actual state of the production site can also be virtual. As a result, for example, travel time of the factory planner can be saved.
  • the virtual environment provides an area representing the base area of the production facility.
  • This is primarily a two-dimensional representation of the virtual environment. This does not mean that the views of the images available on this surface have been edited in such a way that they open up a three-dimensional space.
  • this virtual environment is designed to be modeled on the factory floor so that the site is inspected at the footprint of the manufacturing facility.
  • two-dimensional models of production facilities to be displayed on the area in the production facility, the dimensions of which are imported as data records from a factory planning program. This approach is particularly beneficial if the factory was originally planned using a virtual dataset that is still available.
  • data of the production facilities can be imported into the virtual environment in a simple manner, in particular data about the geometric dimensions. Subsequently, a combination of these data with the image information of the digital images can take place.
  • the virtual environment provides a virtual space representing the three-dimensional extent of the production site.
  • the viewer can navigate and advantageous, for example, select a bird's eye view.
  • the views can therefore also be distributed in the virtual space depending on the perspective.
  • it is particularly advantageous if in the room virtual models of manufacturing facilities are displayed, the dimensions of which are imported as records from a factory planning program. For this the above applies to the area listed accordingly.
  • Such data is usually available when a factory planning program has been used for past planning processes.
  • the models have flat surfaces onto which the digital images are projected as a view. It may be necessary to simplify the models available from the factory planning program so that flat surfaces are available.
  • the images on flat surfaces especially can be simply projected, so that a visual impression of the relevant manufacturing device arises when the virtual viewer is in front of the corresponding object.
  • the associated computational effort can be advantageously limited.
  • the image components relevant to the production facilities recognized and used as a texture for the surface of the three-dimensionally designed models. This creates virtual spaces that can advantageously convey a stronger three-dimensional impression.
  • the image parts belonging to specific production devices are then projected onto the relevant three-dimensional parts of the models of the production device.
  • the surface looks more realistic after this process, which is called texture of the surface.
  • the user interface of the virtual environment must be designed in such a way that the observer can navigate within the virtual environment.
  • vantage points can be selected, which views are assigned to the digital images.
  • These points, also known as view points, are displayed in the view of the virtual environment and can be selected, for example, by mouse click. This allows easy navigation through the virtual environment.
  • the vantage points can advantageously be equipped with 360 ° views or spherical projections of the digital images (also referred to as bubble views).
  • the viewer can choose a vantage point and then perform either a panoramic view of it (360 ° view) or, in the case of spherical projection, also perform a look upwards and downwards.
  • the navigation tool provides a control with which a virtual viewer can be moved through the virtual environment. This control can be realized, for example, by a joystick. This would be a hardware component that would need to be connected to a suitable computer. It is also possible to display the control on the screen, so that navigation in different directions would be made possible by mouse clicks.
  • a control advantageously allows the viewer a free choice of perspective, which is not limited to specific vantage points. It is advantageous if point cloud models are generated as views from the images (also referred to as voxel cloud model), which are embedded in the virtual environment. The image information is thus completely projected into the three-dimensional space, so that the pixels of the digital images are assigned voxels (pixels) in the cloud model.
  • the virtual environment is formed by a three-dimensional global model of the production facility, including at least part of the production facilities, the views being produced by projecting the images onto the surfaces of the model. This presupposes that such a global model of the manufacturing facility exists. This is usually the case when the factory was originally planned using a virtual three-dimensional model as used by factory scheduling programs. These data can then be used to advantageously reduce the amount of computation associated with binding the image information of the digital images to certain spatial points.
  • images or films of the production facility are generated with the sensor. This can be done with the already mentioned cameras. Individual images must be assembled in an appropriate manner for evaluation in order to ensure a complete measurement of the production process. permit.
  • the images are recorded with an overlap, so that when the images are combined into an overall view, optical distortions in the overlapping regions can be neutralized.
  • the overlap may be more than 10% of the extent of the images.
  • the extent of the images is to be understood in each case as the length of the image transversely to the respective overlap with the neighboring image.
  • a neutralization of the distortion is done by technically available software, which is used for example in the production of panoramic images.
  • Another possibility is to produce films from the production site. By changing the perspective during the flight phase of the aircraft, these also make it possible to draw conclusions about the geometry of the production facilities in the production facility, which can be calculated taking into account the current position of the aircraft.
  • a two-dimensional map or a three-dimensional model is generated from the images or the film.
  • this model can be virtual or plastic.
  • a virtual model can in particular be read into a program for factory planning and modified there by further factory planning processes. Physical models are more for creating rough concepts into a larger circle of factory planners or other involved people.
  • programs for factory planning all programs can be used that allow layout planning. These programs do not necessarily have to be called factory planning programs.
  • the model is read into a program for factory planning, then it is particularly advantageous if this program is compared with an already existing virtual reference model. In the program then differences between the Model and the reference model. For example, reference models often arise during the original planning process of a manufacturing facility. This will then be implemented according to the original planning result. In the operation of the production facility, however, modifications of the production facilities are often necessary, which must be made, for example, due to the changing demands on the production site. In addition, there are manufacturing facilities such as storage areas, which are naturally subject to constant changes (such as storage size).
  • the virtual reference model can be used to reduce the effort of data acquisition in the current planning project. If the differences between the model and the reference model are recorded, the data, which are indistinguishable in the model and the reference model, can be adopted without further effort. The acquisition effort is then incurred only for the differences identified. In the program for factory planning, a virtual actual model can be generated with little effort, in particular taking into account the differences by a modification of the reference model, which can form the basis in the current planning project.
  • a particularly advantageous embodiment of the method is obtained when several transmitters are mounted in the manufacturing facility, wherein the signals sent by these transmitters are received by the aircraft. From these signals, the aircraft then determines its position with respect to the transmitter.
  • This embodiment of the invention is of particular advantage, since planning processes of manufacturing plants usually take place in closed spaces. Terrestrial navigation aids, such as GPS, may be restricted or suspended due to the shielding of parts of buildings here. It is advantageous if the aircraft receives signals from dedicated transmitters. This has in addition the advantage that higher accuracy can be achieved by means of these transmitters.
  • the number of transmitters must be determined taking into account the conditions of the production site. In this case, of course, the principles must be taken into account that at least two transmitters are required for a two-dimensional bearing and at least three transmitters for a three-dimensional bearing. However, the use of further transmitters can be advantageous since, for example, niches or even larger production facilities can be present in the production facility, which leads to shading of certain transmitters. Moreover, it is advantageous if the aircraft has distance sensors with which obstacles in the planned trajectory are determined. For this purpose, z. B. the distance sensors are used, which are also used to measure the factory. But it can also be provided separate distance sensors. The distance sensors allow autonomous reaction of the aircraft to obstacles, which can effectively protect it from collisions.
  • the signals of the distance sensors are prioritized with respect to other control signals for the aircraft.
  • the aircraft is manually controlled by means of a remote control by a factory designer. If this error makes or does not respond to an obstacle in time, the distance sensor can activate a tax assistant that automatically dodges the aircraft.
  • Distance sensors may also find use, for example, to maintain a constant altitude of the aircraft in the factory.
  • an already existing virtual reference model is used to control the aircraft, the flight path of the aircraft being determined taking into account the geometry of the reference model.
  • obstacles to be identified in the reference model are already taken into account by programming an appropriate route.
  • a flight route can be determined, which at the same time allows easy-to-evaluate data to be generated. The aforementioned distance sensors would then react to obstacles which are in the path of the predetermined flight path, for example because of discrepancies between the reference model and the real world.
  • deviations from the reference model are already known.
  • data of the client may be available that he has already set up a production facility at a certain point of the production site. This can also be taken into account before a measurement then by modification of the reference model itself or by a direct intervention in the planned flight route.
  • FIG. 1 shows an embodiment of the sequence of the method according to the invention
  • FIG. 2 schematically shows a reference model of a production facility, as can be used in one exemplary embodiment of the method according to the invention
  • FIG. 3 shows an aircraft during the measurement of a production facility according to an exemplary embodiment of the method according to the invention schematically in perspective.
  • 4 is an actual model, which was obtained from the measurement data of the method according to FIG. 3 and takes into account the reference model from FIG. 2,
  • FIG. 4 is a representation of the production site based on the reference model according to FIG.
  • FIG. 5 shows an exemplary embodiment of the method according to the invention as a flow chart
  • Figure 6 is a three-dimensional model, as it is after a
  • Figure 7 shows a two-dimensional model of the manufacturing facility according to Figure 2, as it was created according to another embodiment of the method according to the invention.
  • FIG. 1 shows the process sequence of the method according to the invention in different variants.
  • a reference model may be present as a data record 11. This can be entered into an aircraft 12, so that it can collect data for surveying fully automatic or semi-automatic in the relevant manufacturing plant 13 in flight with the aid of these data.
  • a camera 14 can be used as a sensor, wherein the recording of the measured data is indicated by dash-dotted lines.
  • the aircraft 12 also has a rotor 15 with which it can hold in the air and navigate in the manufacturing facility 13. In a next step, the data is evaluated in a computer 16.
  • the data record 11 containing the reference model of the production facility 13 can also be taken into account in this planning phase by virtue of this data record 11 is fed into the computer 16.
  • a data set 17 is fed into the computer 16, which is a summary of the measurement results of the aircraft
  • a data record 18 is generated which, taking into account the real conditions in the production site 13, contains an actual model of that state of the production site 13 which forms the starting point for the upcoming planning project - that should.
  • the reference model of the data set 11 is shown schematically.
  • These data yield the reference model 20, which according to FIG. 1 can be made available to the aircraft 12 or the computer 16 as a data record 11.
  • FIG 3 the real manufacturing plant 13 is shown. It can be seen that 13 transmitters 21 are mounted in the upper corners of the manufacturing facility, which are to support a navigation of the aircraft 12 in the manufacturing facility 13. For this purpose, the transmitters transmit position signals 22, which are shown by way of example by a dashed arrow and can be received by the aircraft 12 by an antenna 23.
  • the aircraft has a distance sensor 24 in order to detect obstacles in the trajectory (sensor signal 25).
  • An obstacle could be, for example, a production device 19c hanging down from the ceiling. It can be seen how the indicated trajectory 26 is selected around the manufacturing device 19c around. Furthermore, it can be seen that the production device 19b has been changed in its geometry, so that the geometry provided in the reference model 20 is not realized in reality. Therefore, the manufacturing device 19b for the aircraft 12 is not an obstacle, so that a programmed trajectory, the reference geometry of the manufacturing device 19 b evades (dash-dotted arrow 26 a) can be changed into the illustrated rectilinear trajectory 26. A further change in comparison to the reference model 20 consists in the exemplified manufacturing device 19d, which is detected by the camera 14.
  • FIG. 4 shows an actual model 27 which was generated by the computer 16 according to FIG. 1 with the aid of the reference model 20 according to FIG. 2.
  • the unchanged production device 19a the production device 19c determined as an obstacle
  • the production device 19b modified in terms of its geometry
  • the additionally optically determined production device 19d the production device 19d.
  • This actual model 27 can now be used as a basis for the further planning process for the factory, whereby this actual model 27 is available in the form of the data record 18 according to FIG. 1 and can therefore also be used in planning programs for the factory.
  • the method illustrated in FIG. 5 begins in a production facility 13.
  • a production facility 112a is shown.
  • first of all digital images are taken from the production site 13 by means of a camera 113.
  • the camera 113 is mounted on a carriage 114, which can be moved through manufacturing facility 13.
  • the images are uploaded from the camera 114 in a computer 115.
  • a program is still installed, which allows processing of the digital images.
  • These programs are technically available, with the processing of the images being done to create views (see more below).
  • computer 116 can also process data 116, for example, by a planning program 5
  • the computer creates a virtual space 117, which can be displayed in a next step by means of an output device.
  • a cursor is indicated in FIG. 5, with which, for example, the production device 112a can be clicked on. This activates a view of the production device 112a, which is not shown in detail in FIG.
  • FIG. 6 shows a virtual space 120, which has a three-dimensional design and which reproduces the geometric conditions in the production site 13.
  • the production facilities are designed as three-dimensional models 121.
  • the path is to be understood in this context as a manufacturing facility and designed as a two-dimensional model 122.
  • the models 121 are so far simplified that result in three-dimensional cuboid. These cuboids create the possibility of projecting the digital images as a view 124 directly onto the flat surfaces. This is shown only once by way of example, the structure resulting from the view 124 represented by the corresponding model 121.
  • the structure resulting from the view 124 represented by the corresponding model 121.
  • Vantage points may, for example, also be balls 125b, with a click on these vantage points opening a sphere projection as a view of the manufacturing site from the point in question.
  • a vantage point 125c can also consist of a space in space, which opens a view which corresponds exactly to the perspective, as if the viewer stood in front of that surface.
  • a button is integrated in the space 120, which can be used as a controller 126. By clicking on the various directional arrows, an imaginary observer can be moved in the three-dimensional space 120. By clicking on the "P" button, a specific view can be saved so that it can be retrieved later.
  • Figure 7 shows a simpler virtual environment in the form of a surface 127. This represents the floor of the workshop also shown in FIG.
  • each of the two-dimensional models 122 can be clicked to open views of these models, and the wall of the factory floor, that is, in the area 127, can be clicked to view as an outline of the production site to open.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Processing Or Creating Images (AREA)

Abstract

Procédé de mesure pour un poste de fabrication (13) comportant des dispositifs de fabrication (19a, 19b, 19c, 19d). Selon l'invention, les mesures sont prises à l'aide d'un appareil volant (12) équipé à cet effet d'un capteur (14), par exemple d'une caméra numérique. Ainsi, les mesures peuvent être avantageusement effectuées en vue de dessus, ce qui permet d'obtenir un procédé de planification efficace et en particulier une saisie efficace des données relatives à l'espace interne dans un programme de planification. Des données de planification existantes qui sont éventuellement corrigées, dans la mesure où des écarts par rapport aux données de planification initiales sont constatés par l'appareil volant, peuvent également être avantageusement utilisées. En outre, selon l'invention, pour visualiser les conditions régnant dans l'espace interne du poste de fabrication (13), des images numériques sont prises à l'aide d'une caméra et importées dans un environnement virtuel. Il est ainsi possible d'obtenir une impression visuelle du poste de fabrication, sans devoir physiquement s'y rendre.
PCT/EP2012/070654 2011-10-21 2012-10-18 Procédé de mesure et de visualisation des conditions régnant dans l'espace interne d'un poste de fabrication WO2013057192A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102011085001.5 2011-10-21
DE201110085003 DE102011085003A1 (de) 2011-10-21 2011-10-21 Verfahren zur Visualisierung der räumlichen Verhältnisse einer Fertigungsstätte
DE201110085001 DE102011085001A1 (de) 2011-10-21 2011-10-21 Verfahren zur Vermessung einer Fertigungsstätte
DE102011085003.1 2011-10-21

Publications (1)

Publication Number Publication Date
WO2013057192A1 true WO2013057192A1 (fr) 2013-04-25

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3435030A1 (fr) * 2017-07-27 2019-01-30 Testo SE & Co. KGaA Procédé de création d'un modèle tridimensionnel d'un objet
CN111844053A (zh) * 2015-02-03 2020-10-30 佳能株式会社 教导设备、教导方法和机器人系统
CN115556933A (zh) * 2022-10-13 2023-01-03 农业农村部环境保护科研监测所 一种污染耕地整治用野外勘测装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10246781A1 (de) * 2002-10-08 2004-04-22 Stotz-Feinmesstechnik Gmbh Verfahren und Vorrichtung zur dreidimensionalen Vermessung von Objekten
DE10304187A1 (de) * 2003-01-29 2004-08-19 Iqsun Gmbh 3D-Scanner

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10246781A1 (de) * 2002-10-08 2004-04-22 Stotz-Feinmesstechnik Gmbh Verfahren und Vorrichtung zur dreidimensionalen Vermessung von Objekten
DE10304187A1 (de) * 2003-01-29 2004-08-19 Iqsun Gmbh 3D-Scanner

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111844053A (zh) * 2015-02-03 2020-10-30 佳能株式会社 教导设备、教导方法和机器人系统
CN111844053B (zh) * 2015-02-03 2023-11-17 佳能株式会社 教导设备、教导方法和机器人系统
EP3435030A1 (fr) * 2017-07-27 2019-01-30 Testo SE & Co. KGaA Procédé de création d'un modèle tridimensionnel d'un objet
CN115556933A (zh) * 2022-10-13 2023-01-03 农业农村部环境保护科研监测所 一种污染耕地整治用野外勘测装置

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