EP2069116A2 - Procédé destiné à identifier la position d'un objet dans l'espace et procédé pour placer cet objet dans une position prédéfinie - Google Patents

Procédé destiné à identifier la position d'un objet dans l'espace et procédé pour placer cet objet dans une position prédéfinie

Info

Publication number
EP2069116A2
EP2069116A2 EP07827720A EP07827720A EP2069116A2 EP 2069116 A2 EP2069116 A2 EP 2069116A2 EP 07827720 A EP07827720 A EP 07827720A EP 07827720 A EP07827720 A EP 07827720A EP 2069116 A2 EP2069116 A2 EP 2069116A2
Authority
EP
European Patent Office
Prior art keywords
process according
geometric configuration
saved
light
space
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Withdrawn
Application number
EP07827720A
Other languages
German (de)
English (en)
Inventor
Federico Giudiceandrea
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microtec SRL
Original Assignee
Microtec SRL
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 Microtec SRL filed Critical Microtec SRL
Publication of EP2069116A2 publication Critical patent/EP2069116A2/fr
Withdrawn legal-status Critical Current

Links

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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30161—Wood; Lumber

Definitions

  • the invention relates to a process for identifying the position of an object in space and a process for placing that object in a predetermined position using the position identification process.
  • the present invention is intended in particular for use with logs in sawmills, but may advantageously be used for any type of object made of any material.
  • the present invention allows identification of the position of an object in space before subjecting the object to any type of processing, as well as correction of the position.
  • said problem may arise with any object whose shape needs to be identified for subsequent processing or movement (for example, for correct storage).
  • the present invention therefore has for an aim to develop an alternative process to the known one mentioned above, which will make it possible, at any time, to precisely identify the position of an object in space.
  • the present invention also has for a technical aim to provide a process which allows an object to be precisely placed in a predetermined position.
  • the position identification process which is the subject matter of the present invention comprises, first of all, an operating step of illuminating the object with a plurality of rays of light distributed in a known way. In this way, the set of rays of light striking the surface of the object creates a set of illuminated points on it.
  • the rays of light may be positioned in any way relative to one another, they are preferably positioned in such a way as to create at least one flat beam of light.
  • the rays of light are positioned in such a way as to create a plurality of flat beams of light positioned in a known way relative to one another.
  • said flat beams may be spaced out, in such a way that on the object they create a plurality of illuminated lines, or they may be arranged side by side in such a way that on the object they create at least one illuminated band with predetermined width.
  • the flat beams of light may be emitted in planes positioned transversally to a predetermined direction, such as the direction of movement of the object, or the main direction of extension of the object.
  • a predetermined direction such as the direction of movement of the object, or the main direction of extension of the object.
  • the rays of light which may or may not belong to the same beam, may be emitted simultaneously or in a predetermined sequence.
  • a step of detecting the positions of the illuminated points relative to one another which allows identification of the geometric configuration in space of the set of illuminated points.
  • said configuration may consist of a surface (band- shaped or having another shape), one or more lines, or even several points separated from one another.
  • the detection step is carried out using the laser triangulation technique.
  • This is a know technique widely used in processes for detecting the structure of logs, and which may be implemented in many similar ways.
  • the detection step there is a first comparison step between the geometric configuration identified during the detection step and a saved three- dimensional surface structure of the object.
  • the term saved three-dimensional structure refers to the electronic form of it which can be manipulated, created using known detection processes.
  • the three-dimensional geometric structure of the object may be acquired either during a specific preliminary detection and saving step that is part of the process, or beforehand. In the latter case, it is simply retrieved at the moment of the above-mentioned first comparison step.
  • the first comparison step is intended to discover a substantial correspondence between the geometric configuration detected and at least one geometric configuration belonging to the saved three-dimensional surface structure. The moment when said correspondence is obtained may be indicated as the discovery step.
  • the use of flat beams of light allows the creation of sets of illuminated points in the shape of a line, which, upon virtual placing of the known three-dimensional surface structure over the geometric configuration of the line detected, makes it easier to line up the actual illuminated line with the corresponding virtual line on the known three- dimensional surface structure.
  • the position of the geometric configuration detected and the saved three-dimensional geometric surface relative to one another may or may not in turn be saved.
  • Said identification (the subject of an identification step) is based on the comparison between the position in space of the geometric configuration detected and the position of the same geometric configuration detected on the saved three- dimensional surface of the object.
  • the identification step may be carried out explicitly or implicitly.
  • the information about the position in space will be used as such, whilst in the latter case it will be used implicitly for other calculations (such as those described below).
  • the process described above may be applied with the object stationary, or with the object moving in a predetermined direction. In the latter case, the time needed to detect the geometric configuration must be short enough for the object to be considered practically stationary.
  • the present invention also relates to a process which allows an object to be placed in a predetermined position, starting from any position of that object, and which for that purpose uses the position identification process described above.
  • This process of placing the object may be used, for example, in the case of logs, to place them in such a way that the best possible cutting pattern can be implemented.
  • the process of placing the object implemented in accordance with the present invention involves first of all implementation of the operating steps described above to identify the initial position of the object in space.
  • the second comparison step involves a virtual manipulation of the saved three-dimensional structure, during which the saved three-dimensional structure is virtually moved from the predetermined position until the geometric configuration detected matches the corresponding geometric configuration discovered on the three-dimensional surface of the object during the discovery step (in practice, the three-dimensional structure of the object is virtually moved from the predetermined position to a position corresponding to the actual object initial position detected).
  • the virtual movement will consist of rotations relative to one or more axes, and translations in one or more directions.
  • the movement step is normally performed using elements (mechanical, electrical, hydraulic, pneumatic, etc.) able to grip the object and/or move it in the required way.
  • the object actual movement step can take place by making the object perform movements of equal extent but with the opposite sign to those performed in the virtual manipulation of the three-dimensional structure.
  • the operating steps of the identification process may be repeated several times during the movement step.
  • known mathematical techniques are used, since they involve calculating groups of co-ordinates in a three-dimensional space.
  • Parts of this three-dimensional structure can be treated in the same way for example when part of the known three-dimensional surface structure is placed over the geometric configuration identified on each occasion by the set of illuminated points or the geometric configuration of the illuminated lines. These are numeric comparisons which can be performed using known analytical geometry calculation methods. Application of the process described above to the case of a log to be cut is immediate.
  • the configuration (geometric structure) of the log is known. Therefore, the co-ordinates of each point of the log are known, as well as its volume, shape, curvature and all of the other measurements.
  • the set of co-ordinates of the points of which the log consists is known relative to a system of local co-ordinates, that is to say, referring to the log, but as is known from geometry this local system of co-ordinates can be entered in any other reference system, for example that of the cutting machine. Therefore, the three-dimensional structure of the log in its final position, that is to say, the position required by the best possible cutting pattern, can be entered virtually in the cutting machine reference system.
  • this initial position is identified in the cutting machine reference system and therefore (in the second comparison step) the deviations of this initial position relative to the final position to be reached become known.
  • the movement elements can then be programmed and activated, so that the log is moved to this final position.
  • the subsequent readings relate to intermediate positions between the initial and final positions and allow an operator to check that the log is moving as required.
  • the log when the deviations are minimal (that is to say, below a preset tolerance threshold) the log may be considered to have reached its final position and the movement elements can be switched off. It should be noticed that, to speed up log processing, during the process the log may be fed in the predetermined direction, provided the extent of the movements is known.
  • the log movement in the predetermined direction is only a known parameter for variation of the co-ordinates and does not involve any type of complications.
  • the present invention brings important advantages.
  • the invention is based on the idea of defecting the shape of parts of the surface of the object (such as a log) and searching for and finding these parts in the three-dimensional structure already known beforehand. In this way, information can be obtained about the current position of the object, since it is possible to know which part of the log surface is facing the device that detects the shape of the part of the surface, and how it is positioned.
  • the present invention it is possible to detect the geometric three-dimensional structure of a log at a location different to that where the cutting takes place.
  • the invention allows identification of any position in which the log may be put and so allows much more flexible control of the entire log processing process, which may for example be carried out by a number of different people.
  • the log seller will detect the three-dimensional geometric structure and reconstruct it and save it in an electronic form using known processes.
  • Such an electronic form allows many virtual manipulation operations to be applied to the three-dimensional structure according to which it is possible to see the shape of the log on screen, rotate it, move it, enlarge it, etc.
  • the log purchaser, who has to cut it, will enter the electronic form of the log three- dimensional structure in the computer of his cutting machine, so as to be able to perform the same virtual manipulations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Input From Keyboards Or The Like (AREA)

Abstract

L'invention concerne un procédé pour identifier la position d'un objet dans l'espace, ce procédé consistant à éclairer l'objet au moyen d'une pluralité de rayons lumineux répartis d'une manière connue pour créer un ensemble de points éclairés sur la surface de l'objet, et à saisir la configuration géométrique de l'ensemble de points éclairés. Ensuite, une première comparaison entre cette configuration géométrique et une structure de surface tridimensionnelle mémorisée de l'objet permet de mettre au jour une correspondance substantielle entre la configuration géométrique saisie et au moins une configuration géométrique appartenant à la structure de surface tridimensionnelle mémorisée. Enfin, une étape au moins implicite d'identification de la position de l'objet dans l'espace est basée sur la comparaison entre la position dans l'espace de la configuration géométrique saisie et la position de la configuration géométrique détectée sur la surface tridimensionnelle mémorisée de l'objet. Les revendications concernent également un procédé destiné à placer un objet dans l'espace sur la base de ce procédé d'identification de position.
EP07827720A 2006-09-27 2007-09-26 Procédé destiné à identifier la position d'un objet dans l'espace et procédé pour placer cet objet dans une position prédéfinie Withdrawn EP2069116A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000145A ITVR20060145A1 (it) 2006-09-27 2006-09-27 Procedimento per riconoscere la disposizione nello spazio di un oggetto e procedimento per collocare tale oggetto in una posizione predefinita
PCT/IT2007/000669 WO2008038328A2 (fr) 2006-09-27 2007-09-26 Procédé destiné à identifier la position d'un objet dans l'espace et procédé pour placer cet objet dans une position prédéfinie

Publications (1)

Publication Number Publication Date
EP2069116A2 true EP2069116A2 (fr) 2009-06-17

Family

ID=39092093

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07827720A Withdrawn EP2069116A2 (fr) 2006-09-27 2007-09-26 Procédé destiné à identifier la position d'un objet dans l'espace et procédé pour placer cet objet dans une position prédéfinie

Country Status (3)

Country Link
EP (1) EP2069116A2 (fr)
IT (1) ITVR20060145A1 (fr)
WO (1) WO2008038328A2 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6219585B1 (en) * 1994-07-21 2001-04-17 Silvatech Corporation Three dimensional log scanning device for a log positioning and saw system
US20040216808A1 (en) * 2003-04-30 2004-11-04 Rene Achard Log positioning and conveying apparatus

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4486775A (en) * 1980-10-17 1984-12-04 Micro Consultants Limited Object recognition
JPS60200103A (ja) * 1984-03-26 1985-10-09 Hitachi Ltd 光切断線抽出回路
US5257101A (en) * 1992-06-01 1993-10-26 Board Of Regents Of The University Of Ok Apparatus and method for selecting a log orientation and pattern for sawing
WO1997034744A2 (fr) * 1996-03-21 1997-09-25 Newnes Machine Ltd. Systeme integre de sciage selon des traces courbes commande par integration des mouvements sur la base des positions

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6219585B1 (en) * 1994-07-21 2001-04-17 Silvatech Corporation Three dimensional log scanning device for a log positioning and saw system
US20040216808A1 (en) * 2003-04-30 2004-11-04 Rene Achard Log positioning and conveying apparatus

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
BESL P J ET AL: "THREE-DIMENSIONAL OBJECT RECOGNITION", ACM COMPUTING SURVEYS, ACM, NEW YORK, NY, US, US, vol. 17, no. 1, 1 March 1985 (1985-03-01), pages 75 - 145, XP008018762, ISSN: 0360-0300, DOI: 10.1145/4078.4081 *
JOHNSON A ET AL: "3-D OBJECT MODELING AND RECOGNITION FOR TELEROBOTIC MANIPULATION", PROCEEDINGS OF THE 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. IROS 95. HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS. PITTSBURGH, AUG. 5 - 9, 1995; [PROCEEDINGS OF THE IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT R, 5 August 1995 (1995-08-05), pages 103 - 110, XP000740877, ISBN: 978-0-7803-3006-1, DOI: 10.1109/IROS.1995.525782 *
MASAKI OSHIMA ET AL: "Object Recognition Using Three-Dimensional Information", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, IEEE SERVICE CENTER, LOS ALAMITOS, CA, US, vol. 30, no. 4, 1 July 1983 (1983-07-01), pages 353 - 361, XP011242672, ISSN: 0162-8828 *
SUN-HO LEE ET AL: "Assembly part recognition using part-based superquadric model", TENCON 99. PROCEEDINGS OF THE IEEE REGION 10 CONFERENCE CHEJU ISLAND, SOUTH KOREA 15-17 SEPT. 1999, PISCATAWAY, NJ, USA,IEEE, US, vol. 1, 15 September 1999 (1999-09-15), pages 479 - 482, XP010368330, ISBN: 978-0-7803-5739-6, DOI: 10.1109/TENCON.1999.818455 *

Also Published As

Publication number Publication date
ITVR20060145A1 (it) 2008-03-28
WO2008038328A3 (fr) 2008-05-15
WO2008038328A2 (fr) 2008-04-03

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