WO2015085982A1 - Dispositif de mesure 3d d'une surface et unité de projection, ainsi que procédé de mesure 3d - Google Patents

Dispositif de mesure 3d d'une surface et unité de projection, ainsi que procédé de mesure 3d Download PDF

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Publication number
WO2015085982A1
WO2015085982A1 PCT/DE2014/000620 DE2014000620W WO2015085982A1 WO 2015085982 A1 WO2015085982 A1 WO 2015085982A1 DE 2014000620 W DE2014000620 W DE 2014000620W WO 2015085982 A1 WO2015085982 A1 WO 2015085982A1
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WO
WIPO (PCT)
Prior art keywords
deflection
dot pattern
laser
projection
laser beam
Prior art date
Application number
PCT/DE2014/000620
Other languages
German (de)
English (en)
Inventor
Jozsef Bugovics
Original Assignee
Api International Ag
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 DE102013020498.4A external-priority patent/DE102013020498A1/de
Priority claimed from DE201320010966 external-priority patent/DE202013010966U1/de
Application filed by Api International Ag filed Critical Api International Ag
Publication of WO2015085982A1 publication Critical patent/WO2015085982A1/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
    • 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
    • G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo

Definitions

  • the invention relates to a device for the 3-D measurement of a surface, in particular a vehicle body, and to an associated projection unit for projecting a dot pattern onto the surface and to a method for performing a 3-D measurement.
  • a color or line pattern is usually projected onto the surface to be measured, which is then usually detected by means of stereo cameras and from which finally the surface topology of the measured surface is calculated.
  • the spatial coordinates of the points on the surface are then determined from the acquired data and their surface topology calculated therefrom.
  • such devices have the particular disadvantage that the maximum optical resolution corresponds to the amount of the detected points of the dot pattern.
  • An arbitrary narrow design of the dot pattern can not be done with such devices, in particular, since for the, the points of the dot pattern detecting stereo cameras allows a clear separation of the points te from each other and thus a corresponding minimum distance between the points must be complied with.
  • the object of the invention is to provide a device for the 3-D measurement of surfaces, which enables a particularly high optical resolution and thus an exact provision of the surface topology with little technical effort.
  • a device for the 3-D measurement of a surface, for example a surface of a vehicle, has a projection unit with a laser and at least one diffractive optical element, hereinafter also referred to as DOE for short, and according to the invention is capable of producing a dot pattern to project onto the surface to be measured.
  • DOE diffractive optical element
  • a laser beam is provided.
  • the laser preferably has an optical element for providing a parallel beam path.
  • the optical element is formed here, for example, by a collimator.
  • the laser beam strikes the at least one diffractive optical element and is decomposed by it in such a way that a dot pattern is projected on the surface.
  • the device according to the invention for the 3-D measurement hereinafter also referred to as device, has a stereo camera system by means of which the dot pattern projected onto the surface can be optically detected, as well as an evaluation unit with which the optically detected dot pattern can be evaluated.
  • the dot pattern is here preferably in the form of a regular dot pattern, which offers the particular advantage that a contrast between the color and / or the texture of the surface can be set as large as possible and thus optical image acquisition with unique values is made possible.
  • the evaluation unit is able to determine the spatial coordinates of the points of the optically detected dot pattern and to set the spatial coordinates as spatial coordinate data as output. From the space coordinate data provided, the topology of the surface is then created in the evaluation unit itself or in a data processing unit assigned to the evaluation unit, and made available for further processing.
  • the evaluation unit according to the invention is connected to the stereo cameras and preferably also to the projection unit.
  • the connection with the projection unit makes it possible, for example, for the deflection means or the laser to be controlled via the evaluation unit.
  • the evaluation unit simultaneously represents a control unit for the device for 3-D measurement.
  • the inventive device for 3-D measurement is characterized in that a deflection means is arranged between the laser and the at least one diffractive optical element.
  • a deflection of the laser beam can be effected, wherein the deflection is variable by means of the deflection means.
  • a temporally offset multiple projection of the dot pattern on the surface to be measured can be provided as a particular advantage in a very simple manner.
  • a point pattern is projected onto the surface by the device in a first projection and detection process, and then the points on the surface are detected by means of the stereo camera system and their spatial coordinates are determined.
  • the spatial coordinates of the first projection and acquisition process are also provided as the first spatial coordinate data set.
  • a dot pattern is then projected onto the surface again, wherein in the second projection and detection process, the laser beam is deflected by the deflection means so that the points of the dot pattern of the second projection and detection process a different position on the occupy the surface to be measured as the points of the dot pattern of the first projection and detection process.
  • the spatial coordinates of the points of the second projection and detection process are also determined and provided as a second spatial coordinate data set.
  • further projection and acquisition processes can be carried out by means of further distractions to provide additional space coordinate data sets.
  • At least two provided spatial coordinate data records form the basis for the topology of the surveyed surface provided in the result.
  • the multiple projection used avoids an undesired overlapping of individual points of the dot pattern so that each projected point can be detected exactly by the stereo camera system.
  • the second projection and detection process can be followed by further projection and detection processes, wherein the accuracy of the topology of the surface can be further improved by the plurality of provided spatial coordinate data sets.
  • a further advantage of the device according to the invention is, in particular, that the multiple projection can be provided by the deflection means in a technologically particularly uncomplicated manner, and in particular without any rotation or positional change of the at least one diffractive element or the entire device.
  • the positional relationship between the laser and the at least one DOE may remain unchanged, with particular advantages associated with the adjustment.
  • a device according to the invention is particularly suitable for measuring vehicle bodies, for example in the course of a damage analysis, whereby the surface of the vehicle body is measured by means of the device and the surface topography provided from the space coordinate data is compared with an existing ideal model of the surface.
  • the deflection means comprises a position-adjustable prism.
  • the prism is in this case arranged in a corresponding receiving device, which allows, for example, a displacement or rotation of the prism relative to the laser beam and thus the inventive adjustment of the deflection of the laser beam.
  • the particular advantage of the design of the deflection means as a prism variable in position consists, in particular, in its simplicity and the respectively predictable deflection properties of the prism in its respective position.
  • the technological complexity and the cost of providing a device according to the invention can be kept low.
  • a correspondingly large number of multiple projections can be realized by the variable arrangement of the prism.
  • the deflection means is formed by a prism arrangement.
  • a prism arrangement essentially comprises a plurality of prisms with different deflection properties and a rotatable disk on which the prisms are arranged stationary.
  • the rotatable disc is arranged opposite to the laser such that, depending on the desired degree of deflection, the corresponding prism can be rotated into the laser beam.
  • the insertion of the respectively required prism into the laser beam can be varied so that the laser beam penetrates the prism at a predetermined point.
  • the deflection means By forming the deflection means as a prism arrangement, the variability of the deflection means and the number of possible multiple projections can thus be provided in a simple manner.
  • the deflection means is formed by a mirror which is rotatable about a rotation axis and whose mirror surface is not oriented orthogonally to the rotation axis.
  • the mirror is thus able to assume with its mirror surface relative to the laser beam an adjustable angular position, so that the desired deflection of the laser beam is effected in this case by the correspondingly adjusted angular position of the mirror.
  • the technological advantage of the training listed here lies in particular in the simplicity and the uncomplicated and favorable provision of the Mirror, whereby the deployment costs for the entire device for 3-D measurement can be kept low.
  • the deflection means is formed by a liquid lens.
  • the liquid lens in particular has the technological advantage that it provides an electrically variable focal length and thus enables a particularly exact adjustment of the desired deflection properties.
  • no mechanical adjustment means are required, so that wear and mechanical adjustment expenses are eliminated as a special advantage.
  • liquid lenses can be made very small, so they require only a small footprint within the device.
  • liquid lenses have a fast response time and low energy consumption.
  • a deflection means designed as a liquid lens enables a particularly rapid measurement process, wherein the multiple projections can be performed one after the other in comparatively short time intervals.
  • a projection unit according to the invention in particular for use within a device for 3-D measurement, has a laser and at least one diffractive optical element and is capable of projecting a dot pattern onto a surface, in particular a surface to be measured.
  • the projection unit is characterized in that a deflection means is arranged between the laser and the at least one diffractive optical element, by means of which a deflection of the laser beam into a desired direction can be effected.
  • the deflection is also particularly advantageous variable, for example, by the deflection means is adjusted relative to the laser beam in its positional position.
  • the deflection means of a projection unit according to the invention can be provided in various ways, reference being made to claims 2 to 5 and the features disclosed therein for the individual variant embodiments of the deflection means, which apply to the same extent to the deflection means of a projection unit according to the invention.
  • An inventive method for 3-D measurement is by means of a projection unit, comprising a laser, at least one diffractive optical element and a deflection means, wherein the deflection means between the laser and the diffractive optical element is arranged and wherein by the deflection means, through the laser wherein the deflection is variable, and wherein by means of the projection unit, a dot pattern can be projected onto the surface, and by means of a stereo camera system, by means of which the dot pattern on the surface is optically detectable, and by means of an evaluation unit, by means of which the optical detected point pattern can be evaluated and by means of which spatial coordinates of the points of the dot pattern can be determined, wherein the spatial coordinates can be provided as spatial coordinate data can be output, carried out and has the following steps: a) providing a first Able b) first projection of a dot pattern onto the surface by means of the projection unit, c) first detection of the dot pattern on the surface by means of the stereo camera system and forming a first image data set and
  • the method according to the invention is based on the principle of multiple projection, wherein in the present case at least two consecutive projection and detection operations are performed.
  • the first projection and detection process here comprises the method steps a) to c), while the second projection and detection process comprises the method steps d) to f).
  • a first deflection of the laser beam provided by the laser of the projection unit is provided by the deflection means.
  • the provision of the first deflection is effected, for example, by a corresponding orientation of the deflection means relative to the laser beam or by a corresponding positioning of the deflection means in the beam path of the laser beam.
  • step b) the first projection of the dot pattern onto the surface to be measured is carried out by means of the projection unit, wherein the position of the dot pattern is determined by the first deflection of the deflection means.
  • the projected dot pattern of the first projection is then optically detected in method step c) by the stereo camera system and a first image data record is formed from the optically acquired data, which is then transmitted from the stereo camera system to the evaluation unit.
  • the second projection and detection process is followed by method step c), wherein in the following method step d) a second deflection of the laser beam is provided by the deflection means.
  • the second deflection is provided, for example, by adjusting the orientation of the deflection means relative to the laser beam and, according to the invention, is different from the first deflection of the deflection means.
  • a second projection of a dot pattern then takes place on the surface to be measured, in which case the laser beam is deflected by the second deflection provided by the deflection means, which differs from the first deflection in such a way that the position of the dot pattern of the second projection is shifted from the position of the dot pattern of the first projection.
  • the second optical detection of the dot pattern on the surface takes place by means of the stereo camera system and the formation of a second image data set from the optically acquired data. The second image data set is then also transmitted from the stereo camera system to the evaluation unit.
  • the evaluation unit determines in method step g) the spatial coordinates of the points of the dot pattern on the surface.
  • the determination of the spatial coordinates can take place separately for each image data set in real time or combined for both image data sets after the second image data set has been transmitted.
  • the determined spatial coordinates are then combined in method step h) into a common spatial coordinate data set, from which the topology of the surface is finally provided in method step i).
  • the deflection means of the projection unit can be formed by different optical means. If the deflection means according to claim 2 is formed by a position-variable prism, the method steps a) and d) are carried out by a corresponding adjustment of the position or the orientation of the prism relative to the laser beam.
  • the deflection means is formed by a prism arrangement according to claim 3, the method steps a) and d) by screwing the respective, suitable for the necessary deflection, prism carried out in the laser beam.
  • the deflection means as stated in claim 4, formed by a rotatable about a rotation axis, mirror, the process steps a) and d) by adjusting the alignment of the mirror with respect to the laser beam.
  • the deflecting means according to claim 5 is constituted by a liquid lens
  • the process steps a) and d) are performed by varying the focal length of the liquid lens.
  • FIG. 1 simplified schematic representation of apparatus for 3-D measurement
  • Fig. 2a Detail view projection unit with laser beam deflected to the left
  • Fig. 2b detail projection unit with deflected to the right
  • FIG. 1 shows a simplified schematic representation of a device according to the invention for 3D surveying, in particular for measuring a surface 1, which in the present exemplary embodiment is designed as the surface of a section of a vehicle body and which has a local damaged area 1.1.
  • the aim of the 3-D measurement to be carried out by means of the device is to completely detect the damaged area 1.1 of the surface 1 in order to then be able to derive a statement as to which repair measures are performed to eliminate the damaged area 1.1 and which Repair costs must be calculated.
  • the apparatus for 3-D measurement of the surface 1 has a projection unit 2, with which a dot pattern 3 can be projected onto the surface 1, a stereo camera system 4, comprising a first stereo camera 4.1 and a second stereo camera 4.2, and an evaluation unit 5, which in present embodiment is connected to the projection unit 2 and the stereo camera system 4, on.
  • the projection unit 2 has a laser 2.1 for generating a laser beam 6, a diffractive optical element 2.2, also abbreviated to DOE below, and a deflection means 2.3, which is arranged in the beam path between the laser 2.1 and the DOE 2.2 and with which the Laser beam 6 is deflected in a defined amount, before it hits the DOE 2.2. As shown in Fig.
  • the laser beam 6 can be subdivided for better understanding in two parts 6.1 and 6.2, wherein the first part 6.1 describe the laser beam before the deflection and the second part 6.2 the laser beam after the deflection.
  • the diffractive optical element 2.2 is designed such that the laser beam 6 breaks it into a plurality of partial beams 6.3. is set, whereby the dots of the dot pattern on the surface 1 are generated by the partial beams 6.3.
  • the stereo camera system 4 is able to optically detect the points of the dot pattern 3 on the surface 1 and to provide the position of the dots as optical data.
  • the optical data of the stereo camera system 4 are then transmitted to the evaluation unit 5, which in turn is able to determine spatial coordinates of the optically detected points from the optical data and to provide these as spatial coordinate data for further processing.
  • the topology of the measured surface 1 is subsequently determined and made available in the evaluation unit 5 itself or in an external data processing and display unit (not shown). From the topology, the dimensions and the nature of the damaged area 1.1 can be determined in this case, so that corresponding information on the necessary repair measures and the expected repair costs can be derived.
  • the particular technological advantage of the device according to the invention consists in the deflectability of the laser beam 6 by the deflection means 2.3, wherein the deflection, for example by a position or alignment adjustment of the deflection means 2.3 relative to the laser beam 6, is variable.
  • the variable deflection of the laser beam 6 is shown by dashed circular lines for illustrative purposes.
  • the variable deflection of the laser beam 6 makes it possible in a particularly advantageous manner to carry out a multiple projection of the dot pattern 3 on the surface 1 in a particularly uncomplicated manner.
  • a multiple projection is understood to mean that, for example, in a first projection and detection process, the laser beam 6 is deflected by the deflection means 2.3 in a predetermined direction and then split by the DOE 2.2 into its partial beams 6.3, through which a first dot pattern 3 is generated on the surface 1.
  • the points of the first dot pattern 3 are then detected by the stereo camera system 4 and provided in the manner described above by the evaluation unit 5 as the first space coordinate data set. Subsequently, in a second projection and detection process, the positional position of the deflecting means 2.3 is adjusted so that the laser beam 6 is deflected in a predetermined direction which is different from the direction of the laser beam 6 in the first projection and detection operation. The deflected laser beam 6.2 then strikes the DOE 2.3 and is also divided by this into its partial beams 6.3. By these partial beams, another dot pattern 3 is formed on the surface 1 with its dots offset or otherwise changed from the points of the dot pattern 3 from the first projection and detection process. The points of the dot pattern 3 of the second projection and detection process are also detected by the stereo camera system 4 and provided therefrom, by the evaluation unit 5, a second Jardinkoordinatensath.
  • the first and the second space coordinate set are subsequently combined, preferably by the evaluation unit 5, and from this the topology of the measured surface 1, including the damaged area 1.1, is determined. Due to the multiple projection in accordance with the above procedure, a double optical resolution of the optical data can be provided here, without there being any undesired superposition of individual points of the dot patterns 3 as a result of insufficient selectivity. A possible falsification of the survey results by overlapping points of the dot pattern 3, which can not be detected exactly by the stereo camera system 4, are thus avoidable in a particularly effective manner.
  • the device according to the invention for the 3-D measurement has the particular advantage that only the deflection means 2.3 must be arranged in a positionally variable manner.
  • twisting of the diffractive optical element 2.2 or the entire projection unit 2 can be dispensed with.
  • a further advantage of the device is that, in particular, simple optical elements, such as, for example, a prism, whose diffraction and refraction properties are known, can be used as deflection means 2.3.
  • simple optical elements such as, for example, a prism, whose diffraction and refraction properties are known, can be used as deflection means 2.3.
  • the desired deflection of the laser beam 6 can be set particularly easily by changing the positional position of the deflection means 2.3 and, in conjunction with the known and always consistent optical properties of the diffractive optical element 2.2, the position of the dot pattern 3 on the surface 1 can be predetermined ,
  • FIGS. 2 a and 2 b show a detailed view of a projection unit 2 according to the invention, in particular for use in a device for 3-D measurement of a surface.
  • the projection unit 2 has, as already mentioned in connection with FIG. 1, a laser 2.1, a diffractive optical element 2.2 and a deflection means 2.3.
  • FIGS. 2a and 2b show a variant of the projection unit 2 with a collimator 2.4, which is associated with the laser 2.1 and by which a laser beam 6 generated by the laser 2.1 is forced into a parallel beam path.
  • 2 a shows an operating state of the projection unit 2, in which the deflection means 2. 3 is aligned in such a way that the laser beam 6 is deflected to the left and thus the deflected laser beam 6. 2 hits the left area of the DOE 2.
  • the operating state shown here is set, for example, in the first projection and detection process.
  • the deflection means 2.3 for example by turning, in its position relative to the laser beam 6 changed so that it is now deflected to the right and thus the deflected laser beam 6.2 to the right area of DOE 2.2.
  • the operating state shown here is set, for example, in the second projection and detection process following the first projection and detection process.
  • the deflections of the laser beam 6 are each shown elevated.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un dispositif de mesure 3D d'une surface (1). Ledit dispositif comporte une unité de projection (2) munie d'un laser (2.1) et d'au moins un élément optique diffractif (2.2), l'unité de projection (2) permettant de projeter un motif de points (3) sur la surface (1). Le dispositif comporte également un système de caméra stéréo (4) permettant de détecter optiquement le motif de points (3) sur la surface (1), ainsi qu'une unité d'évaluation (5) permettant d'évaluer le motif de points (3) détecté optiquement et de déterminer les coordonnées spatiales des points du motif de points (3), les coordonnées spatiales pouvant être produites sous la forme de données de coordonnées spatiales. Le dispositif est caractérisé en ce qu'entre le laser (2.1) et le ou les éléments optiques diffractifs (2.2) est agencé un moyen de déviation (2.3) qui permet de provoquer une déviation variable d'un faisceau laser (6) produit par le laser (2.1). L'invention concerne par ailleurs une unité de projection d'un dispositif de mesure 3D et un procédé de mesure 3D.
PCT/DE2014/000620 2013-12-11 2014-12-05 Dispositif de mesure 3d d'une surface et unité de projection, ainsi que procédé de mesure 3d WO2015085982A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE202013010966.1 2013-12-11
DE102013020498.4 2013-12-11
DE102013020498.4A DE102013020498A1 (de) 2013-12-11 2013-12-11 Vorrichtung zur 3-D-Vermessung einer Oberfläche und Projektionseineit, sowie Verfahren zur 3-D-Vermessung
DE201320010966 DE202013010966U1 (de) 2013-12-11 2013-12-11 Vorrichtung zur 3-D-Vermessung einer Oberfläche und Projektionseinheit

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WO2015085982A1 true WO2015085982A1 (fr) 2015-06-18

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017009615A1 (fr) * 2015-07-13 2017-01-19 Renishaw Plc Procédé de mesure d'un artefact
WO2018149394A1 (fr) * 2017-02-15 2018-08-23 邢天宜 Dispositif de mesure et procédé de mesure de coordonnées tridimensionnelles

Citations (4)

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Publication number Priority date Publication date Assignee Title
EP2157455A1 (fr) * 2008-08-19 2010-02-24 Samsung Electronics Co., Ltd. Appareil de projection de motifs, appareil d'imagerie tridimensionnel doté de celui-ci et lentille liquide progressive utilisée par ledit appareil
WO2012020380A1 (fr) * 2010-08-11 2012-02-16 Primesense Ltd. Projecteurs à balayage et modules d'acquisition d'images pour cartographie 3d
WO2013087065A1 (fr) * 2011-12-16 2013-06-20 Friedrich-Schiller-Universität Jena Procédé de mesure tridimensionnelle d'objets à profondeur limitée
DE102012014330A1 (de) * 2012-07-20 2014-01-23 API - Automotive Process Institute GmbH Verfahren und Vorrichtung zur 3D-Vermessung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2157455A1 (fr) * 2008-08-19 2010-02-24 Samsung Electronics Co., Ltd. Appareil de projection de motifs, appareil d'imagerie tridimensionnel doté de celui-ci et lentille liquide progressive utilisée par ledit appareil
WO2012020380A1 (fr) * 2010-08-11 2012-02-16 Primesense Ltd. Projecteurs à balayage et modules d'acquisition d'images pour cartographie 3d
WO2013087065A1 (fr) * 2011-12-16 2013-06-20 Friedrich-Schiller-Universität Jena Procédé de mesure tridimensionnelle d'objets à profondeur limitée
DE102012014330A1 (de) * 2012-07-20 2014-01-23 API - Automotive Process Institute GmbH Verfahren und Vorrichtung zur 3D-Vermessung

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017009615A1 (fr) * 2015-07-13 2017-01-19 Renishaw Plc Procédé de mesure d'un artefact
US10591289B2 (en) 2015-07-13 2020-03-17 Renishaw Plc Method for measuring an artefact
JP2021193400A (ja) * 2015-07-13 2021-12-23 レニショウ パブリック リミテッド カンパニーRenishaw Public Limited Company アーチファクトを測定するための方法
WO2018149394A1 (fr) * 2017-02-15 2018-08-23 邢天宜 Dispositif de mesure et procédé de mesure de coordonnées tridimensionnelles

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