WO2013087280A1 - Appareil manuel de mesure de la distance - Google Patents

Appareil manuel de mesure de la distance Download PDF

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Publication number
WO2013087280A1
WO2013087280A1 PCT/EP2012/071442 EP2012071442W WO2013087280A1 WO 2013087280 A1 WO2013087280 A1 WO 2013087280A1 EP 2012071442 W EP2012071442 W EP 2012071442W WO 2013087280 A1 WO2013087280 A1 WO 2013087280A1
Authority
WO
WIPO (PCT)
Prior art keywords
arithmetic unit
image acquisition
distance
measuring
projection
Prior art date
Application number
PCT/EP2012/071442
Other languages
German (de)
English (en)
Inventor
Annette Frederiksen
Eladio Lopez
Jan Weingarten
Original Assignee
Robert Bosch 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.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP12784542.8A priority Critical patent/EP2791701A1/fr
Publication of WO2013087280A1 publication Critical patent/WO2013087280A1/fr

Links

Classifications

    • 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
    • G01S17/46—Indirect determination of position data

Definitions

  • a hand-held distance measuring device with at least one arithmetic unit, an image acquisition device and a projection device, which projects at least one measurement point onto a measurement object in at least one operating state, has already been proposed.
  • Arithmetic unit an image acquisition means and a projection device which projects in at least one operating state at least one measurement point on a measurement object. It is proposed that the arithmetic unit is provided to determine a distance of the measuring point at least from an output characteristic of the image acquisition means.
  • a "computing unit” is to be understood as meaning in particular a unit having an information input, an information processing and an information output
  • the arithmetic unit has at least one processor, a memory, input and output means, an operating program, control routines, control routines and / or calculation routines the components of the arithmetic unit are arranged on a common board and / or advantageously arranged in a common housing
  • an "image acquisition means” should be understood as a means which detects a particular two-dimensional image of at least one part of the measurement object.
  • the image acquisition means preferably captures the image of the measurement object at least in a visible frequency spectrum. rich.
  • the image acquisition means could capture the image of the measurement object in a frequency range which appears appropriate to the person skilled in the art, but advantageously in an infrared frequency range.
  • the image acquisition means has at least one color filter, which is intended to pass a light advantageously with a color emitted by the projection device and / or in particular a spectral composition.
  • the image acquisition means preferably has a CCD sensor and / or a CMOS sensor.
  • the image capture means has a refresh rate greater than 5 Hz.
  • the image acquisition means preferably has an image repetition rate of less than 100 Hz.
  • the image capture means has a resolution greater than 2 megapixels, advantageously greater than 5 megapixels, particularly advantageously greater than 10 megapixels.
  • the arithmetic unit preferably stores at least one image taken by the image acquisition means in addition to a measured distance.
  • the image acquisition means has at least one illumination means which is provided to illuminate an image acquisition region of the image acquisition means.
  • the illumination means illuminates with a color which differs from a color of a light source of the projection apparatus.
  • the illumination means could shine in a near-infrared region.
  • the image capturing means has a plurality of illuminants which emit light in different frequency ranges.
  • a “projection device” is to be understood as meaning, in particular, a device which marks at least one measurement point on a measurement object by means of at least one particularly visible light beam
  • the projection device is provided to emit a light which has a different spectral composition in two operating states
  • the computing unit is provided to determine a spectral composition of a light and to emit it in particular by means of the projection device, in which the measurement object reflects a large portion of the light.
  • the projection device could comprise a visible, in particular, green laser and an infrared laser, in particular an NIR laser
  • the projection device is provided to emit a pulsed light.
  • the projection apparatus pulses the light from a frame rate of the image acquisition means, advantageously at half the frame rate.
  • the projection device pulses the light with a frequency greater than 10 Hz, advantageously greater than 25 Hz and in particular less than 10 kHz, advantageously less than
  • the illumination means and the projection device are provided to emit pulsed light, whereby the measuring point can be detected particularly advantageous by the computing unit.
  • the projection device has at least one light source which emits a light beam focused in particular as a point.
  • the projection device could emit a focused as a line of light beam.
  • the projection device has a laser.
  • a "measuring point" is to be understood as meaning, in particular, a point which is arranged on a surface of the measuring object and which is measured during a measuring process
  • the arithmetic unit determines at least one information about an arrangement of the point relative to at least one
  • a "measurement object” is to be understood as an object that appears appropriate to a person skilled in the art, but preferably an object in a domestic environment and / or on a construction site, for example a wall, a ceiling Punks and / or a particular of an outside spanned plane of the handheld distance measuring device of the projected measuring point on the surface of the measuring object and / or a distance two projected to the measuring object measuring points are understood.
  • the output characteristic of the image acquisition means has at least information on which direction a light of the projection device reflected from the measurement point is incident on the image frame.
  • the image acquisition means is not intended to determine a propagation time of the light from the projection device via the measurement point to the image acquisition means
  • the output parameter has digitally coded information which in particular describes at least one image
  • the output parameter advantageously transports at least one piece of information about, in particular, two dimensions of the measurement object
  • the computing unit advantageously determines the distance by means of triangulation,
  • the arithmetic unit has at least one angular function for determining the distance, preferably an angular function for calculating a sinusoidal set
  • the arithmetic unit determines the distance in a unit of measurement which appears expedient to the person skilled in the art, preferably in an Anglo-American unit of length and / or particularly preferably in a si unit of measure - Fernungsmess réelles can be dispensed with a structurally complex evaluation of a running time of a signal, such as a laser beam, and yet sufficient in many applications, sufficient accuracy can be achieved.
  • the arithmetic unit be provided to determine a distance of the measuring point at least from a distance of the image acquisition means to the projection device, whereby a particularly simple calculation is possible, because a construction-related constant is used.
  • a "distance of the image acquisition means to the projection device" is to be understood in particular to mean a design-related parameter which describes how far the image acquisition means is arranged at a distance from the projection device between 2 cm and 10 cm.
  • the arithmetic unit determines the distance of the measuring point from a distance between a central image-recording direction and a central projection direction.
  • the projection device emits an unmodulated light beam during a measurement, as a result of which the necessary components can be dispensed with.
  • the phrase "emit an unmodulated light beam” is to be understood to mean that the projection device emits a laser beam which is unchanged during the determination of the distance
  • the arithmetic unit evaluates only one measuring angle for determining the distance, in that light reflected at the measuring point impinges on the image capturing means and in particular a projection angle, in that the projecting angles onsvorides emits light to the measuring point.
  • the arithmetic unit evaluates no dependent of a duration of the light of the projection device characteristic.
  • the projection device has a projection direction setting means which changes a projection angle in at least one operating state, whereby a particularly versatile distance measurement and advantageous projection is possible.
  • a “projection direction setting means” is to be understood in particular as a means having at least one actuator which influences a direction in which the projection device emits the light beam relative to the device housing of the handheld distance measuring device
  • the measuring direction setting unit is intended to pivot a projection direction about at least one axis
  • a measuring direction setting unit could be provided for the projection direction about two axes
  • the hand-held distance measuring device has two projection direction adjusting means, and in particular two light sources, which are particularly preferably opposed to one another n sides of the image acquisition means are arranged.
  • a “device housing” is to be understood as a unit that mechanically connects a plurality of assemblies arranged in an interior of the device housing a direction in which the projection device emits a light beam changes in at least one operating state.
  • the arithmetic unit is provided to use the output characteristic of the image acquisition means to project the measurement point on the measurement object in a stationary manner relative to the measurement object during at least one device movement, whereby a particularly convenient distance measurement can be achieved.
  • the phrase "during a device movement” should be understood to mean that the arithmetic unit is intended to adapt the direction of projection in the movement of the device relative to the object of measurement contrary to the movement of the device Measuring point remains at the same position of the device during the movement of the device.
  • the arithmetic unit is provided to project the measuring point stationary as long as the measuring point is arranged in a projection region of the projection device.
  • the arithmetic unit is provided to determine at least one device movement relative to the measurement object, at least from the output characteristic of the image acquisition device, whereby a movement of the hand-held distance measuring device relative to the measurement object can be advantageously compensated.
  • the arithmetic unit determines a device movement of the hand-held distance measuring device relative to the measurement object
  • the arithmetic unit determines the device movement based on intensity profiles of an image that are recognized in a subsequent image
  • the arithmetic unit has a feature analysis function which appears expedient to the person skilled in the art, but advantageously a surfing function (speeded-up robust features), a CRT Function (Kanade-Lucas-Tomasi) and / or particularly advantageously a sift function (scale-invariant feature transformation).
  • the arithmetic unit be provided to project at least one line, preferably between two measuring points, in at least one operating state by means of the projection direction setting means, in particular in a stationary manner onto the test object, thereby making the operator comfortable can display a distance on the measurement object.
  • the arithmetic unit is provided to project different geometric figures, such as rectangles, squares, triangles and / or other figures that appear reasonable to the person skilled in the art, onto the measured object by means of the projection apparatus.
  • the hand-held distance measuring device has at least one position and / or motion sensor which can be used in at least one operating position. was detected a device position and / or a device movement, whereby a movement, position and / or position change of the handheld distance measuring device can be advantageously determined.
  • a "position and / or movement sensor” is to be understood in particular as meaning a sensor which detects a position relative to gravity and / or device movement relative to a starting position
  • the position and / or motion sensor preferably has acceleration sensors for three mutually perpendicular directions,
  • the position and / or motion sensor has at least one gyroscope
  • the position and / or motion sensor particularly advantageously has gyroscopes for three mutually perpendicular ones
  • the position and / or motion sensor further, the expert appears useful, especially exteroceptive sensor, such as a GPS and / or a compass, by means of which the arithmetic unit accumulated errors of the determination of the device movement corrected.
  • exteroceptive sensor such as a GPS and / or a compass
  • the arithmetic unit accumulated errors of the determination of the device movement corrected.
  • a "device position” is to be understood as meaning in particular an orientation of the hand-held distance measuring device relative to the force of gravity.
  • “Device movement” is to be understood as meaning a movement of the hand-held distance measuring device relative to a starting position of the hand-held distance measuring device.
  • the arithmetic unit is provided to align at least the line based on an output characteristic of the position and / or motion sensor. For example, the arithmetic unit could align the line on the measurement object vertically or horizontally.
  • the arithmetic unit is provided, at least from the output characteristic of the image acquisition means and in particular from an output characteristic of the one position and / or motion sensor
  • the term "determine a shape characteristic of the measurement object" is intended to mean, in particular, that the arithmetic unit determines at least from the output parameter of the image acquisition device a particular three-dimensional model of at least a portion of the measurement object.
  • the arithmetic unit has functions of a SLAM method (Simultaneous Localization and Mapping)
  • the arithmetic unit is intended to provide a device position relative to the device
  • the phrase "a device teposition relative to the shape of the measurement object" can be understood that the arithmetic unit determines a particular three-dimensional model of at least the measurement object and calculates the device position in the model.
  • FIG. 1 shows an inventive hand-held distance measuring device with an image acquisition means and a projection device
  • FIGS. 2 to 7 show a method with the hand-held distance measuring device from FIG. 1 for determining a distance between two measuring points projected onto a measuring object, in a schematic representation.
  • FIG. 1 shows an inventive hand-held distance measuring device 10 with a computing unit 12, an image acquisition device 14, a projection device 16, a position and movement sensor 36, a display unit 38, an operating unit 40 and a device housing 42.
  • the image acquisition device 14 and the projection device 16 are on one end face 44 of the device housing 42 is arranged.
  • the display unit 38 and the operating unit 40 are arranged on one side, which here is perpendicular to the end face 44.
  • the display unit 38 is formed as a display.
  • the display unit 38 displays an image taken by the image acquisition means 14 in at least one operating state. To target a measurement point 18, 20, the display unit 38 displays a digital magnification of the image captured by the image capture means 14.
  • the operating unit 40 comprises a plurality of keys.
  • the operating unit 40 comprises a touch screen partially integrated with the display unit 38.
  • the arithmetic unit 12 and the position and movement sensor 36 are arranged in an inner space of the device housing 42.
  • the position and / or movement sensor 36 detects in at least one operating state a device position and / or a device movement.
  • the handheld rangefinder is arranged in an inner space of the device housing 42.
  • the projection device 16 includes a projection direction setting means 30 and a light source 46.
  • the light source 46 is formed as a laser.
  • the projection direction setting means 30, not shown here, comprises an actuator and a micromirror.
  • the projection direction setting means 30 changes a projection angle 32, 33 in at least one operating state.
  • the computing unit 12 is provided to pivot the micromirror about two axes by means of the actuator.
  • the projection device 16 emits an unmodulated light beam 27 during a measurement.
  • the image capture means 14 includes, not shown here in detail, an optics and a digital image sensor.
  • the image capture means 14 has a maximum image capture angle 47, which is determined by a maximum projection angle 47 of the projection device 16.
  • the optic is designed as a wide-angle lens.
  • the projection device 16 projects a measuring point 18 onto a measuring object 22.
  • the arithmetic unit 12 sets a first projection angle 32 by means of the projection direction setting means 30.
  • the projection angle 32 is 90 degrees.
  • a projection device could have an unchangeable projection angle of preferably 90 degrees.
  • the image acquisition means 14 records images of the measurement object 22.
  • the image capturing means 14 provides an output characteristic which transmits the images to the arithmetic unit 12.
  • the arithmetic unit 12 searches the measuring point 18 in the image.
  • the arithmetic unit 12 searches the image for a maximum with a color of the light source 46.
  • the arithmetic unit 12 determines with which measuring angle 48 the light reflected at the measuring point 18
  • a distance 28 between the image acquisition means 14 and the projection device 16 is stored in the arithmetic unit 12. Namely, the distance 28 between a pivot axis of the projection device 16 is stored from a center of the optics. From the first projection angle 32, the measuring angle 48 and the distance 28, the arithmetic unit 12 determines a distance 24 of the measuring point 18 from the projection device 16. Thus, the arithmetic unit 12 is provided with a distance 24 of the measuring point 18 from at least one output characteristic of the image acquisition means 14 to determine.
  • the arithmetic unit 12 has an arithmetic routine which determines the distance 24 by means of a sinusoidal set and an angle sum of a triangle.
  • the arithmetic unit 12 is provided to determine the output characteristic of the image acquisition means 14 and from an output parameter of the position and / or movement sensor 36 a device movement relative to the object to be measured 22. For this purpose, the arithmetic unit 12 determines the device movement from acceleration information and position change information of the position and / or motion sensor 36 by integrating. Furthermore, the arithmetic unit 12 has a sifting function. For example, the sift function could detect wall cracks, color changes, edges, corners, spots, and / or other structures 50 of the measurement object 22 and others in the image acquisition area of the image acquisition means 14 Capture objects. The sift function determines the structures 50 of the measuring object 22 in a plurality of successively recorded images.
  • the arithmetic unit 12 From arithmetic angles to the structures 50 in several images and information about the optics, the arithmetic unit 12 also calculates a device movement relative to the measurement object 22.
  • the arithmetic unit 12 projects by means of the projection device 16, based on the output characteristic of the image acquisition device 14, the measurement point 18 on the measurement object 22 stationary, even during the device movement relative to the measurement object 22.
  • the arithmetic unit 12 is provided to project a line 34 onto the measurement object 22 in a second operating state by means of the projection direction setting means 30. For this purpose, the arithmetic unit 12 oscillates a projection direction of the projection device 16 in an oscillating manner along the line 34. At the ends of the line 34, a first measuring point 18 and a second measuring point 20 are arranged.
  • the arithmetic unit 12 is provided to determine a first, a second and a third distance 24, 25, 26 from the output characteristic of the image acquisition means 14. For this purpose, the arithmetic unit 12 determines a first measuring angle 48 and a second measuring angle 49, in which light reflected by the measuring points 18, 20 falls on the image capturing means 14.
  • the first distance 24 describes how far the first measuring point 18 is arranged at a distance from the projection device 16.
  • the second distance 25 writes how far the second measuring point 20 is spaced from the projection device 16.
  • the third distance 26 describes how far the first measuring point 18 is arranged at a distance from the second measuring point 20.
  • the arithmetic unit 12 is provided to determine a shape characteristic of the measurement object 22 from the output characteristic of the image acquisition means 14 and from an output characteristic of the position and / or movement sensor 36.
  • the arithmetic unit 12 has functions of a SLAM method.
  • the functions of a SLAM method determine and store a shape of the measurement object 22. To this end, the functions of the SLAM method create a model of the measurement object 22
  • FIGS. 2 to 7 describe a method with the hand-held distance measuring device 10 according to the invention.
  • the operator aligns the end face 44 of the hand-held distance measuring device 10 with the measuring object 22.
  • the light beam 27 emitted by the projection device 16 strikes the measurement object 22 and marks the first measurement point 18 there.
  • the display unit 38 displays a first distance 24 between the handheld distance measurement device 10 and the first measurement point 18 (FIG. 1). When a desired first measuring point 18 is marked, the operator actuates a key of the
  • the arithmetic unit 12 analyzes the image of the image acquisition means 14 and searches for distinctive structures 50 (FIG. 2), which are represented in FIGS. 2 to 7 by crosses. On the basis of the structures 50, the arithmetic unit 12 projects the first measuring point 18 stationary during a device movement of the hand-held distance measuring device 10 onto the measuring object 22 as long as the first measuring point 18 is arranged in a maximum projection and image-recording area 47 (FIG. 3).
  • the operator By further pressing a button of the operating unit 40, the operator indicates that he wants to measure the second measuring point 20. Subsequently, the operator moves the hand-held distance measuring device 10, wherein the projection device 16 one of the
  • Device movement dependent line 34 between the first measuring point 18 and the second measuring point 20 projected.
  • the projection angle 33 to the second measuring point 20 remains unchanged ( Figure 4). If, during device movement, the prominent structures 50 migrate out of the maximum projection and image capture area 47, the arithmetic unit 12 determines new distinctive structures 52 (FIG. 5).
  • the computing unit 12 calculates a distance 26 between the measurement points 18, 20 based on the model of the measurement object 22. In this case, the computing unit 12 only projects a part of the line 34 lying in the projection and image acquisition area 47.
  • the operator again actuates a key of the operating unit 40.
  • the arithmetic unit 12 analyzes the image of the image detecting means 14 and searches for prominent structures 54 arranged in the vicinity of the measuring point 20 (FIG 6).
  • the arithmetic unit 12 then calculates a distance 26 between the first and the second measuring point 18, 20.
  • a value of the distance 26 is projected by the arithmetic unit 12 next to the line 34, here for example 50 cm (FIG. 7).
  • the operator sets a target value of the distance 26 of the measuring points 18, 20 to each other.
  • the arithmetic unit 12 regulates the projection angles 32, 33 of the measuring points 18, 20 such that the length of a line 34 shown corresponds to the set desired value.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un appareil manuel de mesure de la distance, présentant au moins une unité de calcul (12), un moyen de saisie d'image (14) et un dispositif de projection (16), qui projette dans au moins un état de fonctionnement au moins un point de mesure (18, 20) sur un objet à mesurer (22). Selon l'invention, l'unité de calcul (12) sert à déterminer une distance (24, 25, 26) du point de mesure (18, 20) à partir d'au moins une grandeur de départ du moyen de saisie d'image (14).
PCT/EP2012/071442 2011-12-13 2012-10-30 Appareil manuel de mesure de la distance WO2013087280A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12784542.8A EP2791701A1 (fr) 2011-12-13 2012-10-30 Appareil manuel de mesure de la distance

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102011088367 2011-12-13
DE102011088367.3 2011-12-13
DE102011089325.3 2011-12-21
DE201110089325 DE102011089325A1 (de) 2011-12-13 2011-12-21 Handentfernungsmessgerät

Publications (1)

Publication Number Publication Date
WO2013087280A1 true WO2013087280A1 (fr) 2013-06-20

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Application Number Title Priority Date Filing Date
PCT/EP2012/071442 WO2013087280A1 (fr) 2011-12-13 2012-10-30 Appareil manuel de mesure de la distance

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EP (1) EP2791701A1 (fr)
DE (1) DE102011089325A1 (fr)
WO (1) WO2013087280A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015223024A1 (de) 2015-11-23 2017-05-24 Robert Bosch Gmbh Laserentfernungsmessgerät
CN114304994B (zh) * 2020-09-29 2023-02-17 青岛海尔特种电冰柜有限公司 基于人感投影的冷柜

Citations (8)

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US4522492A (en) * 1981-07-10 1985-06-11 Canon Kabushiki Kaisha Distance measuring device
US4534636A (en) * 1983-01-18 1985-08-13 Asahi Kogaku Kogyo Kabushiki Kaisha Automatic focusing device for camera
US4688919A (en) * 1984-02-13 1987-08-25 Canon Kabushiki Kaisha Automatic focusing camera
GB2219709A (en) * 1988-05-25 1989-12-13 Seikosha Kk Multiple flash range finder
GB2239761A (en) * 1989-12-28 1991-07-10 Seikosha Kk Range meter for a camera
US5239335A (en) * 1991-02-04 1993-08-24 Olympus Optical Co., Ltd. Auto focus apparatus having a plurality of light emitting elements
US5274429A (en) * 1989-04-14 1993-12-28 Asahi Kogaku Kogyo Kabushiki Kaisha Distance measuring device
EP0686857A2 (fr) * 1994-06-09 1995-12-13 Hitachi, Ltd. Télémètre pour véhicules

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Publication number Priority date Publication date Assignee Title
DE102006013707A1 (de) * 2006-03-24 2007-09-27 Robert Bosch Gmbh Vorrichtung zur Distanzmessung, sowie Verfahren zum Betrieb einer solchen Vorrichtung
DE102007003024A1 (de) * 2007-01-20 2008-07-31 Sick Ag Triangulationssensor mit Entfernungsbestimmung aus Lichtfleckposition und -form
DE102008061035C5 (de) * 2008-12-08 2013-09-05 Sick Ag Verfahren und optischer Sensor zur Erfassung von Objekten
DE102009045312A1 (de) * 2009-10-02 2011-04-07 Robert Bosch Gmbh Optisches Entfernungsmessgerät mit Verwackelungsschutz

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4522492A (en) * 1981-07-10 1985-06-11 Canon Kabushiki Kaisha Distance measuring device
US4534636A (en) * 1983-01-18 1985-08-13 Asahi Kogaku Kogyo Kabushiki Kaisha Automatic focusing device for camera
US4688919A (en) * 1984-02-13 1987-08-25 Canon Kabushiki Kaisha Automatic focusing camera
GB2219709A (en) * 1988-05-25 1989-12-13 Seikosha Kk Multiple flash range finder
US5274429A (en) * 1989-04-14 1993-12-28 Asahi Kogaku Kogyo Kabushiki Kaisha Distance measuring device
GB2239761A (en) * 1989-12-28 1991-07-10 Seikosha Kk Range meter for a camera
US5239335A (en) * 1991-02-04 1993-08-24 Olympus Optical Co., Ltd. Auto focus apparatus having a plurality of light emitting elements
EP0686857A2 (fr) * 1994-06-09 1995-12-13 Hitachi, Ltd. Télémètre pour véhicules

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EP2791701A1 (fr) 2014-10-22
DE102011089325A1 (de) 2013-06-13

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