EP1200798A1 - System for scanning of the geometry of large objects - Google Patents
System for scanning of the geometry of large objectsInfo
- Publication number
- EP1200798A1 EP1200798A1 EP00963149A EP00963149A EP1200798A1 EP 1200798 A1 EP1200798 A1 EP 1200798A1 EP 00963149 A EP00963149 A EP 00963149A EP 00963149 A EP00963149 A EP 00963149A EP 1200798 A1 EP1200798 A1 EP 1200798A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- unit
- ofthe
- sensor
- robot
- sensor unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims abstract 10
- 230000003287 optical effect Effects 0.000 claims abstract 2
- 238000005259 measurement Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims 1
- 238000005286 illumination Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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
- 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
Definitions
- the present invention relates to a system as well as a method to scan the geometry of objects as described in the introduction to claims 1 and 11
- a coordinate measurement machine is complex, inflexible and costly
- An alternative is attaching a scanner to a robot, in such a way that the robot moves the scanner across the object. For each position, a part ofthe surface is scanned. This measurement is registered relative to the position ofthe scanner, and is transformed to a global coordinate system provided by the robot.
- the present invention combines a solution comprising a robot and scanner with use of a position measuring device as described in Norwegian Patent No 303 595
- the scanner and the position measuring device are integrated into one sensor unit
- the position measuring device provides information on the exact position of the scanner
- the robot is only used to move the sensor unit
- Figure 2 shows an alternative configuration
- Figure 3 shows as an example a scanner unit, a triangulation sensor
- Figure 4 shows an example of a position measuring device as described in Norwegian patent No 303 595
- Figure 5 shows a method for determining the internal geometry ofthe sensor unit
- Figure 1 shows an example of a configuration ofthe system. It consists of principally two units, a sensor 1 and a robot 4. The robot is used to position the sensor in relation to the current area 12 on the object 6 The sensor 1 registers the local geometry ofthe object, and measures its own position relative to a global coordinate system 13
- the sensor unit 1 consists of a scanner unit 2 for local scanning of geometry plus position measuring unit 3 to determine the sensor unit's own position relative to the global coordinate system 13.
- the scanner unit 2 e.g. a laser scanner, emits a laser beam 11 which scans a limited region 12
- the position measuring unit 3 registers its own position, and thereby the position ofthe sensor unit 1, relative to a network 8 of reference points 9
- the positions ofthe reference points are known relative to the global coordinate system 13
- the system also includes a computing unit 5 which collects the data from scanner unit 2 and position measuring unit 3 and transforms all information from the scanner unit to the same global coordinate system 13.
- the computing unit 5 also sends data to the robot 4 to control the robot's movement relative to the object.
- FIG. 1 shows an alternative configuration
- the reference points 9 are attached to the object 6
- the position measuring unit 3 is placed to view these reference points.
- the scanner unit 2 can e g be one ofthe following types, but is not limited to this
- Triangulation sensor based on single-axis scanning laser or laser line projection combined with camera (e.g CCD sensor) Such a sensor scans one line from each sensor position
- Triangulation sensor based on dual-axis scanning laser or laser raster projection combined with camera e g CCD sensor
- Sensor based on projection of pattern combined with one or more cameras e g CCD sensor
- Figure 3 shows the principle for a triangulation sensor It contains a laser 14 which emits a laser beam 11 or a laser plane (line projection) The laser projects a point 15 or a line on the object 6
- the point 15 is imaged through a lens 16 onto a sensor 17, e g a CCD array
- the scanner unit 2 is calibrated in such a way that it measures the position ofthe point 15 relative to an internal coordinate system 18
- the laser beam can be aimed at the surface through a two-axis, movable mirror In this way, a region ofthe surface can be scanned from each position ofthe triangulating sensor
- the significant characteristic ofthe scanner is that it registers the local geometry of an object relative to the internal coordinate system ofthe scanner For each scanner position, a registration can be made of a point, points along a line, or points in a two- dimensional pattern
- the position measuring device 3 is of a type described in Norwegian patent No 303 595, as shown in figure 4 Essentially, this comprises one or more cameras mounted together in a unit. Each camera sees a reference pattern in the form of points, lines or other easily recognizable objects. For each position ofthe sensor unit 1, the points 9 in the reference pattern 8 are imaged through the lens 19 onto the sensor 20 The data is transferred to the computing unit 5 Software in the computing unit calculates the position and orientation ofthe position measuring unit 3 relative to the reference pattern 8 The position measuring device in figure 4 is shown with carrying handle 21 and activation switch 22 for manual operation. Also shown is an illumination source 23 for illumination ofthe reference pattern 8, and a mechanical probe 24 for point by point measurement by touching an object, as described in Norwegian patent No 303 595
- the reference pattern 8 is known in the coordinate system of the object, or is a part ofthe object itself as depicted in figure 2 This can be achieved if the object has holes that can be recognized by the position measuring device, or if the reference pattern is attached to the object, e g by mounting easily recognizable targets into holes or depressions in the object These targets may e g be purely passive markers, light sources, light reflectors or similar It is significant that the geometrical relationship between the scanner unit 2 and the unit 3 for measuring position be known and stable This can partly be achieved through a stable, precise and known mechanical construction, and through separate calibration as described below
- the sole purpose ofthe robot 4 is to position the sensor unit 1 in the correct position and o ⁇ entation relative to the object 6
- robot p ⁇ nciples may be used, e g arm robots, Cartesian robots, and robots with one, two, three or more degrees of freedom
- the robot may be controlled by a predefined program, or by using the measured position ofthe sensor unit relative to the object and feed the robot instructions for relative movement in relation to the current position
- Figure 5 illustrates a method for determining this relationship
- the sensor unit 1 is positioned such that at least three ofthe reference points 9 are inside its measurement volume
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO993446 | 1999-07-13 | ||
NO19993446A NO313113B1 (no) | 1999-07-13 | 1999-07-13 | System for scanning av store objekters geometri |
PCT/NO2000/000235 WO2001007866A1 (en) | 1999-07-13 | 2000-07-10 | System for scanning of the geometry of large objects |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1200798A1 true EP1200798A1 (en) | 2002-05-02 |
Family
ID=19903575
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00963149A Withdrawn EP1200798A1 (en) | 1999-07-13 | 2000-07-10 | System for scanning of the geometry of large objects |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1200798A1 (ja) |
JP (1) | JP2003505682A (ja) |
AU (1) | AU7459900A (ja) |
NO (1) | NO313113B1 (ja) |
WO (1) | WO2001007866A1 (ja) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10156431B4 (de) * | 2001-11-16 | 2005-12-22 | Dantec Ettemeyer Gmbh | Verfahren zur Lagebestimmung von Meßpunkten auf einem Objekt |
BE1014484A3 (nl) | 2001-11-22 | 2003-11-04 | Krypton Electronic Eng Nv | Werkwijze en inrichting voor het vergroten van het meetvolume van een optisch meetsysteem. |
WO2003069277A1 (en) * | 2002-02-14 | 2003-08-21 | Faro Technologies, Inc. | Portable coordinate measurement machine with integrated line laser scanner |
EP1361414B1 (en) * | 2002-05-08 | 2011-01-26 | 3D Scanners Ltd | Method for the calibration and qualification simultaneously of a non-contact probe |
US6944564B2 (en) | 2002-05-08 | 2005-09-13 | Metris N.V. | Method for the automatic calibration-only, or calibration and qualification simultaneously of a non-contact probe |
US7009717B2 (en) | 2002-08-14 | 2006-03-07 | Metris N.V. | Optical probe for scanning the features of an object and methods therefor |
JP3817530B2 (ja) | 2003-06-30 | 2006-09-06 | 本田技研工業株式会社 | 3次元形状測定方法及びその測定装置 |
DE10341042A1 (de) | 2003-09-03 | 2005-03-31 | Claas Fertigungstechnik Gmbh | Vorrichtung und Verfahren zur Vermessung von Bauteilen |
DE102004017172A1 (de) | 2004-04-02 | 2005-10-20 | Jan Bernd Lugtenburg | Verfahren und Vorrichtung zur Vermessung eines Messobjekts |
WO2006114216A1 (en) * | 2005-04-25 | 2006-11-02 | Metris N.V. | Method and device for scanning an object using robot manipulated non-contact scannering means and separate position and orientation detection means |
DE102005043912B4 (de) * | 2005-05-18 | 2011-08-18 | Steinbichler Optotechnik GmbH, 83115 | Verfahren zum Bestimmen der 3D-Koordinaten der Oberfläche eines Objekts |
JP2006349547A (ja) * | 2005-06-17 | 2006-12-28 | Kanto Auto Works Ltd | 非接触式三次元形状計測方法及び計測機 |
US7299145B2 (en) | 2005-08-16 | 2007-11-20 | Metris N.V. | Method for the automatic simultaneous synchronization, calibration and qualification of a non-contact probe |
ATE494527T1 (de) | 2005-08-16 | 2011-01-15 | 3D Scanners Ltd | Verfahren zur simultanen kalibrierung, qualifizierung und synchronisierung einer berührungslosen sonde |
DE102006003569A1 (de) | 2006-01-25 | 2007-07-26 | Axios 3D Services Gmbh | Positionsbestimmungssystem |
JP4657275B2 (ja) * | 2007-10-29 | 2011-03-23 | パナソニック株式会社 | 光学的測定装置 |
DE102008022338B4 (de) * | 2008-04-09 | 2015-02-19 | Waldemar Knittel Glasbearbeitungs Gmbh | Verfahren zum Erfassen eines Kantenverlaufs einer Kante einer Platte |
DE102011011360A1 (de) * | 2011-02-16 | 2012-08-16 | Steinbichler Optotechnik Gmbh | Vorrichtung und Verfahren zur Bestimmung der 3-D-Koordinaten eines Objekts und zum Kalibrieren eines Industrieroboters |
CN103033183B (zh) * | 2012-12-14 | 2015-07-01 | 中国航空工业集团公司北京长城航空测控技术研究所 | 工业机器人室内精确定位***及方法 |
DE102014105456B4 (de) * | 2014-04-16 | 2020-01-30 | Minikomp Bogner GmbH | Verfahren zur Vermessung der Außenkontur von dreidimensionalen Messobjekten und zugehöriges Messsystem |
DE202016106062U1 (de) | 2016-10-27 | 2016-11-07 | LPKF SolarQuipment GmbH | Druckmaschine mit einer Vorrichtung zur Erfassung zumindest einer Glaskante einer Glasplatte |
WO2019176118A1 (ja) * | 2018-03-16 | 2019-09-19 | 三菱電機株式会社 | 重畳表示システム |
CN110849267B (zh) * | 2019-12-02 | 2021-02-26 | 南京航空航天大学 | 一种基于局部基准孔的移动式自动化***在产品上定位和坐标系转换的方法 |
DE102021105176A1 (de) | 2021-03-04 | 2022-09-08 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung und Verfahren zur Ermittlung und Darstellung einer Relativorientierung eines Gegenstandes |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE464322B (sv) * | 1989-11-09 | 1991-04-08 | Johansson Ab C E | Beroeringsfri maetprob |
US5198877A (en) * | 1990-10-15 | 1993-03-30 | Pixsys, Inc. | Method and apparatus for three-dimensional non-contact shape sensing |
JPH05312521A (ja) * | 1992-05-13 | 1993-11-22 | Nec Corp | ターゲットマーク |
DE4325269A1 (de) * | 1993-07-28 | 1995-02-02 | Zeiss Carl Jena Gmbh | Anordnung zur koordinatenmäßigen Ermittlung der Form und Lage von Strukturen, Kanten und Formelementen |
GB2292605B (en) * | 1994-08-24 | 1998-04-08 | Guy Richard John Fowler | Scanning arrangement and method |
AU3621795A (en) * | 1994-09-28 | 1996-04-19 | William Richard Fright | Arbitrary-geometry laser surface scanner |
JPH09166410A (ja) * | 1995-12-14 | 1997-06-24 | Toshiba Corp | 位置計測装置 |
NO303595B1 (no) * | 1996-07-22 | 1998-08-03 | Metronor Asa | System og fremgangsmÕte for bestemmelse av romlige koordinater |
JP3373367B2 (ja) * | 1996-08-09 | 2003-02-04 | 松下電器産業株式会社 | 3次元計測装置及び3次元計測方法 |
FR2770317B1 (fr) * | 1997-10-24 | 2000-12-08 | Commissariat Energie Atomique | Procede d'etalonnage de la position et de l'orientation d'origine d'une ou plusieurs cameras mobiles et son application a la mesure de position tridimentionnelle d'objets fixes |
-
1999
- 1999-07-13 NO NO19993446A patent/NO313113B1/no not_active IP Right Cessation
-
2000
- 2000-07-10 AU AU74599/00A patent/AU7459900A/en not_active Abandoned
- 2000-07-10 EP EP00963149A patent/EP1200798A1/en not_active Withdrawn
- 2000-07-10 JP JP2001512250A patent/JP2003505682A/ja active Pending
- 2000-07-10 WO PCT/NO2000/000235 patent/WO2001007866A1/en active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO0107866A1 * |
Also Published As
Publication number | Publication date |
---|---|
NO993446D0 (no) | 1999-07-13 |
AU7459900A (en) | 2001-02-13 |
JP2003505682A (ja) | 2003-02-12 |
WO2001007866A1 (en) | 2001-02-01 |
NO313113B1 (no) | 2002-08-12 |
NO993446L (no) | 2001-01-15 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
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17P | Request for examination filed |
Effective date: 20020201 |
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AK | Designated contracting states |
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AX | Request for extension of the european patent |
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17Q | First examination report despatched |
Effective date: 20071213 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20080624 |