DE202006020299U1 - 3D measurement arrangement - Google Patents
3D measurement arrangement Download PDFInfo
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- DE202006020299U1 DE202006020299U1 DE202006020299U DE202006020299U DE202006020299U1 DE 202006020299 U1 DE202006020299 U1 DE 202006020299U1 DE 202006020299 U DE202006020299 U DE 202006020299U DE 202006020299 U DE202006020299 U DE 202006020299U DE 202006020299 U1 DE202006020299 U1 DE 202006020299U1
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- Germany
- Prior art keywords
- detection
- sensors
- tracking
- detection device
- tracking device
- Prior art date
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- Expired - Lifetime
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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
- G01B11/24—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
-
- 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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
3D-Vermessungsanordnung
(10) zur dreidimensionalen Erfassung eines Objektes, mit
einem
mobilen Erfassungsgerät
(12) mit mindestens einem 3D-Sensor zur dreidimensionalen Erfassung
des Objektes in Bezug auf das Erfassungsgerät (12),
einer Tracking-Vorrichtung
(14) zur Erfassung der Position und Lage des Erfassungsgerätes (12)
im Raum, und
einem Rechner (17), der mit dem Erfassungsgerät (12) und der
Tracking-Vorrichtung
(14) verbunden ist und aus Erfassungsdaten des Erfassungsgerätes (12)
und der Tracking-Vorrichtung (14) eine dreidimensionale Beschreibung
des Objektes generiert.3D surveying arrangement (10) for the three-dimensional detection of an object, with
a mobile detection device (12) having at least one 3D sensor for three-dimensional detection of the object with respect to the detection device (12),
a tracking device (14) for detecting the position and position of the detection device (12) in space, and
a computer (17) which is connected to the detection device (12) and the tracking device (14) and generates a three-dimensional description of the object from detection data of the detection device (12) and the tracking device (14).
Description
Die Erfindung bezieht sich auf eine 3D-Vermessungsanordnung zur dreidimensionalen Erfassung eines Objektes und auf ein Verfahren zur dreidimensionalen Erfassung eines Objektes.The The invention relates to a three-dimensional 3D surveying arrangement Capture of an object and on a method of three-dimensional Capture of an object.
Aus dem Stand der Technik sind im Wesentlichen stationäre 3D-Vermessungsanordnungen bekannt. Diese haben den Nachteil, dass entweder die Entfernung zwischen der Vermessungsanordnung und dem Objekt unter Umständen sehr groß ist, oder aber die Handhabung umständlich ist, da sie für eine genaue dreidimensionale Erfassung des Objekts zunächst in der Nähe des Objektes stationiert und initialisiert werden müssen. Zur Erfassung eines großen, unhandlichen und unbeweglichen Objekts von allen Seiten muss die Vermessungsanordnung von mindestens drei stationären Messorten aus das Objekt erfassen. Hierzu muss an jedem Messort eine Neuinitialisierung auf den neuen Messort erfolgen, bevor mit der eigentlichen Erfassung begonnen werden kann.Out The prior art are essentially stationary 3D surveying arrangements known. These have the disadvantage that either the distance between the survey arrangement and the object may be very is great or the handling cumbersome is there for you an exact three-dimensional capture of the object first in nearby of the object must be stationed and initialized. to Capturing a large, unwieldy and immovable object from all sides must have the survey arrangement of at least three inpatients Capture locations from the object. This must be done at each location a reinitialization to the new site will be done before with the actual capture can be started.
Aufgabe der Erfindung ist es demgegenüber, eine mobile und effektive 3D-Vermessungsanordnung zur dreidimensionalen Erfassung eines Objektes zu schaffen.task the invention it is in contrast, a mobile and effective 3D surveying arrangement to create a three-dimensional detection of an object.
Diese Aufgabe wird erfindungsgemäß gelöst mit den Merkmalen des Patentanspruchs 1.These The object is achieved with the Features of claim 1.
Die erfindungsgemäße 3D-Vermessungsanordnung ist vorliegend eine Vermessungsanordnung, die ein mobiles Erfassungsgerät aufweist. Das mobile Erfassungsgerät weist mindestens einen 3D-Sensor zur dreidimensionalen Erfassung des Objekts in Bezug auf das Erfassungsgerät auf. Das Erfassungsgerät ist mobil, d.h. es kann zwischen zwei Erfassungen, jedoch grundsätzlich auch während der Erfassung des Objekts bewegt werden. Ferner ist eine stationäre Tracking-Vorrichtung zur Erfassung der Position und der Lage des Erfassungsgerätes im Raum vorgesehen. Die Tracking-Vorrichtung kann also ständig eine Initialisierung, d.h. eine genaue Lage- und Positionsbestimmung des Erfassungsgerätes vornehmen.The Inventive 3D survey arrangement In the present case, a surveying arrangement has a mobile detection device. The mobile recording device has at least one 3D sensor for three-dimensional detection of the object with respect to the detection device. The recording device is mobile, i.e. it can be between two observations, but basically also while the detection of the object to be moved. Further, a stationary tracking device provided for detecting the position and the position of the detection device in the room. The tracking device can thus always have an initialization, i.e. make a precise position and position determination of the detection device.
Schließlich ist ein Rechner vorgesehen, der mit dem Erfassungsgerät und der Tracking-Vorrichtung verbunden ist und aus den Erfassungsdaten des Erfassungsgerätes und aus den Erfassungsdaten der Tracking-Vorrichtung eine dreidimensionale Beschreibung des Objekts generiert. Die gesamte 3D-Vermessungsanordnung kann automatisch arbeiten, d.h. ohne besondere Eingriffe. Dies ist insbesondere auch dann möglich, wenn das Erfassungsgerät während der Objekterfassung bewegt wird. Die während der Bewegung gewonnenen Erfassungsdaten sind nicht aussagelos, wie bei herkömmlichen Vermessungsanordnungen, sondern können mit Hilfe der Erfassungsdaten der Tracking-Vorrichtung normiert und dadurch für die Beschreibung des Objektes genutzt werden.Finally is a computer provided with the detection device and the Tracking device is connected and from the detection data of the detection device and from the detection data of the tracking device, a three-dimensional Description of the object generated. The entire 3D survey arrangement can work automatically, i. without special intervention. This is especially possible, if the detection device during the Object detection is moved. The won during the movement Capture data is not unique, as with conventional Surveying arrangements, but can with the help of the detection data normalized the tracking device and thereby used for the description of the object become.
Für die 3D-Vermessungsanordnung bieten sich eine Vielzahl von Anwendungsmöglichkeiten. Beispielswiese kann das mobile Erfassungsgerät ein Handgerät sein, das relativ klein ist und vom Bediener problemlos in der Hand gehalten werden kann. Auf diese Weise kann ein unbewegtes Objekt durch Umschreiten des Objektes problemlos und präzise dreidimensional erfasst werden. Durch die Mobilität des Erfassungsgerätes kann dieses ferner stets relativ nah an das Objekt herangebracht werden. Hierdurch verbessert sich systematisch die Genauigkeit der Objekterfassung. Das mobile Erfassungsgerät kann ferner an Roboterarmen eingesetzt werden, die im Rahmen eines Herstellungsprozesses Kontroll- und/oder Montageaufgaben ausführen. Weitere Anwendungsgebiete sind beispielsweise Reverse-Engineering, Planung und Konstruktion, Designstudien, handgeführte 3D-Modellierung, Kalibrierung von Roboter-Arbeitsräumen bis hin zu virtuellen Ausstellungen oder Museen.For the 3D survey arrangement offer a variety of applications. example meadow can be the mobile capture device a handset which is relatively small and easily handled by the operator can be held. In this way can be a still object detected by moving around the object easily and precisely three-dimensional become. Due to the mobility of the acquisition device Furthermore, this can always be brought relatively close to the object become. This systematically improves the accuracy of the Object detection. The mobile sensing device may also be attached to robot arms used as part of a manufacturing process control and / or Perform assembly tasks. Other areas of application include reverse engineering, planning and design, design studies, hand-guided 3D modeling, calibration of robot workspaces up to to virtual exhibitions or museums.
Vorzugsweise weist das mobile Erfassungsgerät mindestens zwei verschiedenartige 3D-Sensoren auf. Durch die Integration verschiedenartiger 3D-Sensoren in das Erfassungsgerät kann jeweils der für die konkrete Erfassungsaufgabe am besten geeignete 3D-Sensor gewählt werden. Die Wahl des geeigneten 3D-Sensors kann manuell oder automatisch erfolgen. Der 3D-Sensor kann beispielsweise als Stereokamera, als Triangulations-Laserscanner oder als Lichtschnitt-Sensor ausgebildet sein. Jeder der drei genannten Sensorarten weist besondere Vorteile auf, die sich zur Erzielung eines großen Messbereiches, einer hohen Messgenauigkeit und einer hohen Redundanz miteinander kombinieren lassen.Preferably has the mobile capture device at least two different types of 3D sensors. Through the integration Various types of 3D sensors in the detection device can each of the for the concrete detection task to be chosen the most suitable 3D sensor. The choice of suitable 3D sensor can be manual or automatic respectively. The 3D sensor For example, as a stereo camera, as a triangulation laser scanner or be designed as a light-section sensor. Each of the three mentioned Sensor types has particular advantages that can be achieved a large measuring range, a high measuring accuracy and a high redundancy with each other combine.
Durch die Integration verschiedenartiger Sensoren in dem Erfassungsgerät ist es möglich, den jeweils geeignetsten 3D-Sensor für die entsprechende Aufgabe zu wählen. Es können vorzugsweise auch mehrere 3D-Sensoren gleichzeitig zur Erfassung des Objekts eingesetzt und von dem Rechner ausgewertet werden. Dies ist jedenfalls dann möglich, wenn sich das Objekt in einer Messentfernung befindet, die von den beiden betreffende 3D-Sensoren erfasst wird. Selbstverständlich kann das Objekt auch gleichzeitig von mehr als zwei 3D-Sensoren erfasst werden. Hierdurch werden die Genauigkeit der Objektbeschreibung und die Redundanz erhöht.By it is the integration of various sensors in the logger possible, the most suitable 3D sensor for the respective task to choose. It can preferably also several 3D sensors simultaneously for detection of the object used and evaluated by the computer. This is certainly possible then when the object is at a measurement distance from the both concerned 3D sensors is detected. Of course you can The object is simultaneously detected by more than two 3D sensors become. This will increase the accuracy of the object description and the redundancy increases.
Die Stereokamera ermöglicht eine gerichtete Aufnahme eines relativ weit entfernten Objekts. Der Lichtschnitt-Sensor hat eine hohe Präzision bei mittleren Entfernungen. Der Laserscanner wiederum bietet eine sehr hohe Genauigkeit im Nahbereich.The stereo camera allows a directional recording of a relatively distant object. The light-section sensor has high precision at medium distances. The laser scanner turn bie provides very high accuracy at close range.
Selbstverständlich kann auch ein mechanischer 3D-Sensor eingesetzt werden. Bevorzugt werden jedoch berührungslose 3D-Sensoren verwendet.Of course you can also a mechanical 3D sensor can be used. To be favoured however non-contact 3D sensors used.
Vorzugsweise weist die Tracking-Vorrichtung mindestens zwei im Raum feststehende Tracking-Kameras und mindestens zwei Marker an dem Erfassungsgerät auf. Die Marker können aktive oder passive Marker sein, d.h. retroreflexiv oder selbstemittierend ausgebildet sein.Preferably the tracking device has at least two fixed in space Tracking cameras and at least two markers on the detection device. The Markers can be active or passive markers, i. retroreflective or self-emitting be educated.
Die beschriebene Konzeption ermöglicht es, zusätzlich zu der optischen Tracking-Vorrichtung auch andere Tracking-Vorrichtungen einzusetzen, beispielsweise Manipulatoren oder Inertialsensoren.The described conception allows it, in addition to the optical tracking device also other tracking devices use, for example, manipulators or inertial sensors.
Vorzugsweise weist der Rechner einen Taktgenerator auf, durch den die 3D-Sensoren miteinander und mit dem Rechner synchronisiert werden. Eine Synchronisation ist insbesondere dann notwendig, wenn sich das Erfassungsgerät und/oder das Objekt während der Erfassung bewegt. Durch die Synchronisation wird sichergestellt, dass sich die Objekterfassungen der verschiedenen Sensoren und der Tracking-Vorrichtung exakt auf denselben Zeitpunkt beziehen.Preferably the computer has a clock generator, through which the 3D sensors with each other and synchronized with the computer. A synchronization is particularly necessary when the detection device and / or the object during the detection moves. Synchronization ensures that that the object captures of the various sensors and the Relate tracking device exactly at the same time.
Alternativ oder ergänzend kann der Rechner einen Zeitstempel-Generator aufweisen und die Erfassungsdaten der 3D-Sensoren und ggf. der Tracking-Vorrichtung mit einem Zeitstempel versehen. Bei der Erfassung dreidimensionaler Daten fallen unter Umständen so große Datenmengen an, dass eine genaue Auswertung zeitversetzt erfolgt. Hierfür ist die Markierung aller Erfassungsdaten mit einem Zeitstempel erforderlich, da hierdurch eine nachträgliche Synchronisation aller Erfassungsdaten ermöglicht wird.alternative or in addition the computer may have a timestamp generator and the acquisition data the 3D sensors and possibly the tracking device provided with a time stamp. at The capture of three-dimensional data may be so size Amounts of data that an accurate evaluation takes place with a time delay. Therefor the marking of all data with a time stamp is required, as a result, a subsequent synchronization all acquisition data is enabled.
Damit sind die Erfassungsdaten dem Aufnahmezeitpunkt eindeutig zugeordnet und können die Erfassungsdaten insbesondere mehrerer 3D-Sensoren online oder offline fusioniert werden. Durch einen Austausch der Zeitstempel über ein Echtzeit-Bussystem, beispielsweise einen CAN-Bus, können theoretisch beliebig viele 3D-Sensoren miteinander kombiniert werden.In order to the acquisition data are uniquely assigned to the recording time and can the Detection data, in particular multiple 3D sensors online or offline be merged. By exchanging the time stamps via a real-time bus system, for example, a CAN bus theoretically any number of 3D sensors can be combined.
Selbstverständlich kann das Taktsignal und/oder der Zeitstempel auch in dem jeweiligen 3D-Sensor selbst erzeugt werden.Of course you can the clock signal and / or the time stamp also in the respective 3D sensor self-generated.
Im Folgenden wird anhand der Figuren ein Ausführungsbeispiel der Erfindung näher erläutert.in the The following is an embodiment of the invention with reference to FIGS explained in more detail.
Es zeigen:It demonstrate:
In
der
Die
Vermessungsanordnung
Die
Tracking-Vorrichtung
Das
mobile Erfassungsgerät
Auf
der Oberseite des Gehäuses
In
der
Ferner
weist das Erfassungsgerät
Das
Erfassungsgerät
Auch
die beiden Tracking-Kameras
Alternativ
kann das Erfassungsgerät
an einen Industrieroboter
Im
Betrieb kann mit dem mobilen Erfassungsgerät
Die
von den 3D-Sensoren erfassten Daten des Objektes werden taktweise
ermittelt. Hierzu wird von einem Taktgenerator in dem Rechner
Mit der Nutzung eines Taktsignales ist es möglich, die gesamte Datenaufnahme zu synchronisieren und deterministische Phasenbeziehungen zwischen den 3D-Sensoren herzustellen. Durch die Zuordnung von Zeitstempeln zu den Erfassungsdaten können diese eindeutig einem Aufnahmezeitpunkt zugeordnet werden und können schließlich on- oder offline fusioniert werden.With By using a clock signal, it is possible to record the entire data to synchronize and deterministic phase relations between to produce the 3D sensors. By assigning timestamps to the acquisition data These can be clearly assigned to a recording time and can eventually be on or be merged offline.
Durch die Auswertung der Erfassungsdaten mehrerer 3D-Sensoren wird ein größerer Messbereich abgedeckt, eine genauere dreidimensionaler Erfassung des Objektes realisiert und eine höhere Redundanz zur Vermeidung von Fehlern realisiert.By the evaluation of the acquisition data of several 3D sensors becomes a larger measuring range covered, a more accurate three-dimensional detection of the object realized and higher redundancy realized to avoid errors.
Mit
den 2D-Kameras
Claims (7)
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Cited By (39)
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DE102009034244A1 (en) | 2009-07-22 | 2011-01-27 | Kuka Roboter Gmbh | Method and device for measuring a component |
DE102009049849A1 (en) * | 2009-10-19 | 2011-04-21 | Metaio Gmbh | Method for determining the pose of a camera and for detecting an object of a real environment |
WO2011131161A1 (en) | 2010-03-17 | 2011-10-27 | Peter Kronseder | Device for evaluating the protection class test of ballistic protection vests or ballistic protection helmets |
WO2012034142A1 (en) * | 2010-09-14 | 2012-03-22 | Georg Zwisler | Multifunctional anti-theft device |
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USD688577S1 (en) | 2012-02-21 | 2013-08-27 | Faro Technologies, Inc. | Laser tracker |
US8659749B2 (en) | 2009-08-07 | 2014-02-25 | Faro Technologies, Inc. | Absolute distance meter with optical switch |
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USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
US9453913B2 (en) | 2008-11-17 | 2016-09-27 | Faro Technologies, Inc. | Target apparatus for three-dimensional measurement system |
US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
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DE102009034244A1 (en) | 2009-07-22 | 2011-01-27 | Kuka Roboter Gmbh | Method and device for measuring a component |
US8570493B2 (en) | 2009-08-07 | 2013-10-29 | Faro Technologies, Inc. | Absolute distance meter that uses a fiber-optic switch to reduce drift |
US8659749B2 (en) | 2009-08-07 | 2014-02-25 | Faro Technologies, Inc. | Absolute distance meter with optical switch |
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US10229511B2 (en) | 2009-10-19 | 2019-03-12 | Apple Inc. | Method for determining the pose of a camera and for recognizing an object of a real environment |
US9218665B2 (en) | 2009-10-19 | 2015-12-22 | Metaio Gmbh | Method for determining the pose of a camera and for recognizing an object of a real environment |
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