WO2002066924A1 - Procede et dispositif pour la saisie optique d"un objet - Google Patents

Procede et dispositif pour la saisie optique d"un objet Download PDF

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Publication number
WO2002066924A1
WO2002066924A1 PCT/EP2001/012616 EP0112616W WO02066924A1 WO 2002066924 A1 WO2002066924 A1 WO 2002066924A1 EP 0112616 W EP0112616 W EP 0112616W WO 02066924 A1 WO02066924 A1 WO 02066924A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical detection
moisture
precipitation
partially
precipitate
Prior art date
Application number
PCT/EP2001/012616
Other languages
German (de)
English (en)
Inventor
Charalambos Tassakos
Original Assignee
Charalambos Tassakos
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 Charalambos Tassakos filed Critical Charalambos Tassakos
Publication of WO2002066924A1 publication Critical patent/WO2002066924A1/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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • 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
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object

Definitions

  • the present invention relates to a method and a device for optical detection, including the measurement of an object.
  • a digital or analog video camera with a subsequent evaluation of the recorded images can be used, for example, for the optical detection of an object. It is known from the prior art to determine the position and / or orientation of an object either absolutely or relative to a coordinate system or another object. In order to determine the distance between two objects or the distance between two edges of the objects to one another, it is known to illuminate the objects in the region of the edges in such a way that large-area reflections result on the surfaces of the objects. When optically recorded, the surfaces in the area of the edges appear as bright areas; the gap between the edges as a dark area. By evaluating the light / dark transitions, the edges can be detected and the distance between the edges can be determined.
  • a two-dimensional projection pattern eg a grid structure
  • the image can be projected onto the surface of the object of the pattern on the surface of the object can be detected and evaluated from at least two angles. In this way, a three-dimensional surface course of the projection pattern on the surface can be determined.
  • the object of the present invention to provide a possibility for a safe and reliable optical detection of the object even in the case of an object which consists of a translucent material or has a highly light-absorbing or totally reflecting surface.
  • the invention proposes, based on the method of the type mentioned at the outset, that measures are taken before or during the optical detection by means of which precipitation is at least partially present on the object during the optical detection to produce a diffusely reflecting surface.
  • the precipitate applied to the surface of the object according to the invention consists of the finest particles of a liquid or a solid. It preferably consists of the finest droplets of moisture or ice crystals.
  • the precipitation is so fine that the dimensions of the object change only insignificantly when the precipitation is applied to the surface.
  • the effects of precipitation on the dimensions of the object can be taken into account when capturing the object.
  • the position and / or orientation or a three-dimensional surface course of the object can still be detected with a high degree of accuracy.
  • the translucency of an object made of a translucent material is severely restricted.
  • the reflection properties of the surface are significantly increased and improved by the precipitation.
  • the reflection properties are reduced.
  • the determination of the position and / or the orientation of an object by edge detection is particularly intended.
  • a light / dark or a dark / light / dark transition on the surface can be determined for edge detection.
  • the projection of one or more one- or two-dimensional projection patterns, for example a lattice structure, onto the surface of an object is also considered.
  • the precipitate can also be applied to the surface of an object with little effort. Various possibilities are conceivable for this, which are explained in more detail below. It is also possible to remove the precipitate from the surface after the object has been optically detected. In particular, it is thought that the precipitation can be removed automatically. After the optical detection of the object, the precipitation preferably removes on its own. The precipitate can, for example, be wiped off the surface or removed by evaporation (heat and / or air supply) or removed. Advantageously, the precipitate is removed after the optical detection has ended or removes itself after the optical detection has ended.
  • the precipitation preferably consists of the finest water droplets.
  • Water can be used to create diffuse reflection properties of the surface of an object to be detected. Any additives can be added to the water, e.g. to increase the reflectivity (e.g. through silver or gold color additives), to reduce the size of the moisture droplets, to improve the adhesion of the moisture deposit on the surface of the object, to remove the moisture deposit from the surface To facilitate the surface (for example, by evaporation-promoting substances) or around the surface or Protect the object (e.g. by means of corrosion-inhibiting substances). However, the water droplets and the additives should be easily removed from the surface or removed by themselves after the object has been detected.
  • a one- or two-dimensional projection pattern is projected onto the surface of the object provided with the precipitate and the course of the projection pattern on the surface is optically recorded and evaluated.
  • the three-dimensional surface course of an object made of any material and with any reflection properties can be recorded using methods known per se.
  • the surface of the object provided with the precipitate is illuminated so that diffuse light reflections form on the surface, the course of which is optically recorded and evaluated.
  • the reflections can be extensive, so that there is a light / dark transition at the edges of the object, or extend linearly along the edges so that there is a dark / light / dark transition along the edges.
  • the object is at least partially cooled before the optical detection, so that moisture contained in the ambient air condenses or ices on the surface of the cooled area of the object.
  • the higher the ambient temperature the more moisture can be stored in the ambient air. If the temperature of the ambient air decreases in the area of the cooled area, the moisture storage capacity of the ambient air also decreases. Excess moisture is released from the ambient air and is stored on the cooled areas of the Surface. Depending on the temperature of the surface, the moisture is deposited as very fine droplets or as ice crystals. The ice crystals change into a liquid state of their own by heating or at ambient temperature. The moisture droplets can be removed by heating or remove themselves at ambient temperature.
  • a liquid is applied to the object, which evaporates after the application and generates evaporative cooling, by means of which the object is at least partially cooled.
  • the object is at least partially deliberately sprayed with supersaturated moisture vapor before the optical detection and that moisture contained in the moisture vapor condenses on the surface of the sprayed area of the object.
  • This method is based on a temperature difference between the surface and the ambient air that is locally limited to the area of the surface to be wetted. This temperature difference can be achieved, for example, by lowering the temperature of the surface to be wetted or by increasing the temperature of the ambient air. Due to the lower temperature of the surface to be wetted relative to the ambient air, the ambient air is locally cooled to a region around the surface. This reduces the moisture storage capacity of the ambient air in the area of the surface and causes excess moisture to be deposited on the surface.
  • the moisture vapor is, for example, water vapor, which is supplied to the surface of the object to be wetted via a feed line. In the immediate vicinity of the surface, the moisture vapor emerges from the supply line and condenses.
  • the moisture vapor can be brought specifically to the surface to be wetted, so that it is only there and not condensed elsewhere, for example on the lens of means for optically detecting the object.
  • the object be at least partially sprayed with the finest moisture droplets before the optical detection.
  • These finest droplets of moisture can be applied to the surface of the object, for example using an atomizer.
  • the size of the moisture droplets can be reduced by suitable additives, for example to reduce the surface tension of the moisture.
  • the wetting of the object with the precipitation can also be achieved by a static charge on the surface of the object to be wetted and / or the particles of the precipitation. This can ensure that the particles really only reach the desired surface of the object and not the means for optically detecting the object, so that the optical detection of the object is not impaired.
  • the method according to the invention can be used in a particularly advantageous manner for detecting the absolute position and / or orientation of an object. It is also advantageous to use the method according to the invention for detecting the position and / or orientation of an object relative to another object. Finally, the method according to the invention can also be used to record a three-dimensional surface course of at least part of the surface of the object.
  • the method according to the invention is preferably used for optical detection, in particular for positioning, alignment and / or measurement, of an object made of a translucent material or an object with a highly light-absorbing or a totally reflecting surface used.
  • a practical application example is the positioning and alignment of a
  • the surface of the headlamp under consideration has a cover plate made of transparent glass or plastic.
  • the cover plate can hardly be optically detected using the known methods.
  • a precipitate is applied to the cover pane, one or more He11 / dark transitions or a dark / light / dark transition can be produced at an edge at the edge or on a surface of the headlamp with suitable lighting , A light / dark or a dark / light / dark transition can also be created at the edge of the recessed recess.
  • the position and orientation of the edges and thus the position and orientation of the headlight relative to the recessed recess can be determined by optically detecting the transitions. In this way, the correct installation of a headlamp in the body can be checked during the production of a motor vehicle in the assembly line and, if necessary, corrected before the headlamp is attached.
  • Another practical example is gripping a windshield for a motor vehicle, for example by means of a robot-guided vacuum gripper with vacuum suction units.
  • a robot-guided vacuum gripper with vacuum suction units.
  • certain areas of the windshield are provided with precipitation in order to produce a diffuse reflection of light or a diffuse image of a projection pattern. This also enables the spatial position of the windshield to be determined relative to the rest of the body, and thus a controlled installation even in one movement.
  • the device has means for applying a precipitate to at least a part of the object for producing a diffusely reflecting surface during the optical detection, the means indirectly or before or during the optical detection apply immediately.
  • the device have means for removing the precipitate after the optical detection has ended.
  • the device have means for executing the method according to the invention.
  • Figure 1 is a flow chart of an inventive
  • Figure 2 shows an inventive device according to a preferred embodiment.
  • FIG. 1 shows a flowchart of a method according to the invention in accordance with a preferred embodiment shown.
  • the method is used for the optical detection of an object made of a translucent material or with a highly light-absorbing or totally reflecting surface.
  • Objects made of a translucent material are, for example, diffusing screens or transparent cover panes for headlights or panes in general.
  • Objects with a strongly light-absorbing surface are, for example, matt black lacquered objects, objects made of black rubber, for example car tires.
  • Objects with a totally reflecting surface are, for example, polished decorative strips, door handles, operating levers or engine blocks.
  • optical detection by means of edge detection or by means of a two-dimensional projection pattern, for example a grid structure, projected onto a surface of the object is not possible according to the prior art or only under difficult conditions, since incident light is either not at all (transparent objects), not enough (light absorbing objects) or far too strongly (totally reflecting objects) is reflected.
  • a diffusely reflecting surface would be ideal for capturing an object.
  • measures are taken before or during the optical detection by means of which precipitation is at least partially present on the object during the optical detection to produce a diffusely reflecting surface.
  • Precipitation reduces the translucency of an object made of a translucent material, improves the reflective properties of an object with a highly light-absorbing surface, and reduces the reflective properties of an object with a totally reflective surface.
  • optical detection for example by edge detection or by detecting a one- or two-dimensional projection pattern projected onto the surface, can be carried out without any problems, since due to the precipitation there is a sufficient amount of light is reflected and is thus available for optical detection or a total reflection of the light is prevented.
  • the method according to the invention begins in a function block 1.
  • the object to be detected is at least partially wetted with a precipitate.
  • the surface of the object can be wetted in various ways. It is conceivable to cool the object at least partially, so that moisture contained in the ambient air on the surface of the cooled regions of the object condenses or ices better.
  • a cold spray can be used, such as is used to detect faults in electrical circuits or to treat sports injuries.
  • a volatile liquid can also be applied to the object, which evaporates and creates an evaporative cold, by means of which the object is cooled.
  • the object can be sprayed with moisture vapor at least partially in a targeted manner, so that moisture contained therein condenses on the surface of the object. Furthermore, it is conceivable to at least partially spray the object with the finest droplets of moisture, for example from an atomizer. Finally, the surface can be wetted with the particles by statically charging the surface and / or the particles.
  • the actual optical detection of the object then takes place in a function block 3 in a manner known per se from the prior art.
  • a one- or two-dimensional projection pattern for example a lattice structure
  • the course of the lattice structure on the surface is optically recorded and evaluated.
  • the surface of the object wetted by the moisture deposit can be illuminated for optical detection of the object, so that Diffuse reflections form on the surface, the course of which is optically recorded and evaluated.
  • the reflections can form over a large area on the surface or - with appropriate lighting and corresponding optical detection - can only run along the edges of the object.
  • a light / dark transition or a dark / light / dark transition is recorded and evaluated.
  • Moisture precipitation then by itself from the surface of the object.
  • the precipitation can be removed, for example, by wiping it away or by evaporation due to the supply of heat or air.
  • the method according to the invention is ended in a function block 5.
  • FIG. 2 shows a device 10 according to the invention in accordance with a preferred embodiment.
  • the object to be detected is a motor vehicle headlight or a cover plate 11 of the headlight for a motor vehicle.
  • the device 10 it is checked whether the headlight is properly fitted into a recess 12 of the motor vehicle body 13.
  • the device 10 is used in the assembly line during the manufacture of the motor vehicle.
  • the body 13 moves continuously in the direction of an arrow 14.
  • the device 10 essentially comprises three units. First, the body 13 passes through a first unit 15 for wetting the surface of the cover plate
  • the moisture deposit which in the present exemplary embodiment is designed as condensed water vapor.
  • the water vapor is brought into the immediate vicinity of the surface of the cover plate 11 to be wetted via a feed line 16. o ⁇ . ⁇

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

L"invention concerne un procédé et un dispositif (10) pour la saisie optique d"un objet (11). L"invention vise à réaliser une saisie optique sûre et fiable d"un objet (11) en matériau transparent ou dont la surface absorbe fortement ou reflète totalement la lumière. A cet effet, des mesures sont prises avant ou pendant la saisie optique pour qu"un dépôt se trouve au moins partiellement sur l"objet (11) pendant la saisie optique, afin de créer une surface à réflexion diffuse. Selon l"invention, une unité (15) humidifie au moins partiellement la surface de l"objet (11) au moyen de gouttelettes extrêmement petites. L"objet (11) est optiquement saisi dans une unité (17) et dans une autre unité (20), le dépôt humide est éliminer de la surface de l"objet (11), par exemple, par échauffement. Après la saisie optique, le dépôt humide s"enlève de préférence de lui-même, étant notamment formé de vapeur d"eau condensée.
PCT/EP2001/012616 2001-02-21 2001-10-31 Procede et dispositif pour la saisie optique d"un objet WO2002066924A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2001108221 DE10108221A1 (de) 2001-02-21 2001-02-21 Verfahren und Vorrichtung zur optischen Erfassung eines Objekts
DE10108221.5 2001-02-21

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Publication Number Publication Date
WO2002066924A1 true WO2002066924A1 (fr) 2002-08-29

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Cited By (7)

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WO2007056974A1 (fr) * 2005-11-15 2007-05-24 Mtu Aero Engines Gmbh Mesure optique de surfaces metalliques
EP1828714A1 (fr) * 2004-11-30 2007-09-05 Mapvision OY Ltd Procédé et système pour une mesure optique de la forme d`un article
JP2011512527A (ja) * 2008-02-18 2011-04-21 ラットゥーンド アンド シーオー ジーエムビーエイチ 光沢度の高い表面のための測定ステーション
WO2012075978A1 (fr) * 2010-09-13 2012-06-14 Micro-Epsilon Optronic Gmbh Système de mesure optique pour mesurer des distances
EP2801787A4 (fr) * 2011-12-27 2015-06-17 Sumco Corp Procédé permettant de mesurer la forme tridimensionnelle d'un creuset en verre de silice, et procédé de production de silicium monocristallin
EP2908093A1 (fr) * 2014-02-14 2015-08-19 SmartRay GmbH Procédé et dispositif de balayage optique sans contact de surfaces
CN107743572A (zh) * 2015-06-08 2018-02-27 株式会社高永科技 湿空气形成装置、包括其的检查装置及检查方法

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DE102004025490A1 (de) * 2004-05-22 2005-12-15 Hubert Kammer Verfahren zum optischen Vermessen reflektierender und/oder transparenter Objekte mittels Lasermesstechnik
DE102005051020B4 (de) * 2005-10-23 2011-08-18 corpus.e AG, 70178 Kostengünstige kalibrierungsfreie 3D Digitalisierung von Körpern
DE102007034689B4 (de) * 2007-07-12 2009-06-10 Carl Zeiss Ag Verfahren und Vorrichtung zum optischen Inspizieren einer Oberfläche an einem Gegenstand
US8609194B2 (en) 2010-01-21 2013-12-17 Level 3 Inspection, Llc Method and apparatus for composition coating for enhancing white light scanning of an object
AT521833B1 (de) 2018-10-25 2023-07-15 Nextsense Gmbh Vorrichtung und Verfahren zur Inspektion von spiegelnden Oberflächen

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DE4034007A1 (de) * 1990-10-25 1992-04-30 Siemens Ag Verfahren und vorrichtung zur optischen erfassung von oberflaechenstrukturen an zaehnen
DE19506642C1 (de) * 1995-02-25 1996-03-21 Focus Mestechnik Gmbh & Co Kg Verfahren und Vorrichtung zum optischen Ausmessen der Oberflächenkontur eines Werkstückes
DE19910699A1 (de) * 1999-03-10 2000-09-14 Inos Automationssoftware Gmbh Vorrichtung zum Messen der Breite eines Spalts

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EP0054785A1 (fr) * 1980-12-24 1982-06-30 Werner H. Dr.med.dent. Mörmann Procédé de réalisation d'élements rapportés médicaux et dentaires, alloplastiques, endoprothétiques et exoprothétiques
DE4034007A1 (de) * 1990-10-25 1992-04-30 Siemens Ag Verfahren und vorrichtung zur optischen erfassung von oberflaechenstrukturen an zaehnen
DE19506642C1 (de) * 1995-02-25 1996-03-21 Focus Mestechnik Gmbh & Co Kg Verfahren und Vorrichtung zum optischen Ausmessen der Oberflächenkontur eines Werkstückes
DE19910699A1 (de) * 1999-03-10 2000-09-14 Inos Automationssoftware Gmbh Vorrichtung zum Messen der Breite eines Spalts

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1828714A1 (fr) * 2004-11-30 2007-09-05 Mapvision OY Ltd Procédé et système pour une mesure optique de la forme d`un article
EP1828714A4 (fr) * 2004-11-30 2008-03-19 Mapvision Oy Ltd Procédé et système pour une mesure optique de la forme d`un article
WO2007056974A1 (fr) * 2005-11-15 2007-05-24 Mtu Aero Engines Gmbh Mesure optique de surfaces metalliques
US7830529B2 (en) 2005-11-15 2010-11-09 Mtu Aero Engines Gmbh Optical measurement of metallic surfaces
JP2011512527A (ja) * 2008-02-18 2011-04-21 ラットゥーンド アンド シーオー ジーエムビーエイチ 光沢度の高い表面のための測定ステーション
CN103097858A (zh) * 2010-09-13 2013-05-08 微-埃普西龙光电股份有限公司 用于测定距离的光学测量***
WO2012075978A1 (fr) * 2010-09-13 2012-06-14 Micro-Epsilon Optronic Gmbh Système de mesure optique pour mesurer des distances
US9453728B2 (en) 2010-09-13 2016-09-27 Micro-Epsilon Optronic Gmbh Optical measurement system for determining distances
EP2801787A4 (fr) * 2011-12-27 2015-06-17 Sumco Corp Procédé permettant de mesurer la forme tridimensionnelle d'un creuset en verre de silice, et procédé de production de silicium monocristallin
EP2908093A1 (fr) * 2014-02-14 2015-08-19 SmartRay GmbH Procédé et dispositif de balayage optique sans contact de surfaces
CN107743572A (zh) * 2015-06-08 2018-02-27 株式会社高永科技 湿空气形成装置、包括其的检查装置及检查方法
EP3306235A4 (fr) * 2015-06-08 2018-04-11 Koh Young Technology Inc. Dispositif de formation d'air humide, dispositif d'inspection le comprenant, et procédé d'inspection
US10619870B2 (en) 2015-06-08 2020-04-14 Koh Young Technology Inc. Humid air forming device, inspection device comprising same, and inspection method
CN107743572B (zh) * 2015-06-08 2021-03-30 株式会社高迎科技 湿空气形成装置、包括其的检查装置及检查方法

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