[go: up one dir, main page]

WO2017122112A1 - Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d'objets - Google Patents

Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d'objets Download PDF

Info

Publication number
WO2017122112A1
WO2017122112A1 PCT/IB2017/050089 IB2017050089W WO2017122112A1 WO 2017122112 A1 WO2017122112 A1 WO 2017122112A1 IB 2017050089 W IB2017050089 W IB 2017050089W WO 2017122112 A1 WO2017122112 A1 WO 2017122112A1
Authority
WO
WIPO (PCT)
Prior art keywords
feeler
feeler device
video cameras
main body
markers
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.)
Ceased
Application number
PCT/IB2017/050089
Other languages
English (en)
Inventor
Fiorenzo FRANCESCHINI
Maurizio GALETTO
Domenico Augusto MAISANO
Luca MASTROGIACOMO
Ou BAI
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.)
Politecnico di Torino
Original Assignee
Politecnico di Torino
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 Politecnico di Torino filed Critical Politecnico di Torino
Priority to EP17707399.6A priority Critical patent/EP3403052A1/fr
Publication of WO2017122112A1 publication Critical patent/WO2017122112A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • 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
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken

Definitions

  • the present invention relates to the field of coordinate measurements in the three- dimensional (3D) space to be taken on large objects (ranging from one meter to a few tens of meters in size) by using photogrammetric techniques.
  • the invention relates to a feeler device for photogrammetric measurements, which can provide, with a high degree of accuracy, the three-dimensional coordinates of points touched by the feeler on the surface of an object being measured, by using as a reference a photogrammetric system consisting of high-resolution digital cameras with high depth of field.
  • the invention further concerns a marker for such a feeler device and a measurement system for taking photogrammetric measurements, which allows obtaining accurate measurements on the object to be analyzed.
  • Optical measurement systems for quality dimensional checks in industrial environments are becoming increasingly widespread for in-line verifications of the dimensions and tolerances of mass-produced items and for occasional or periodic inspections and tests on finished products.
  • the systems that were first used for taking precision measurements on large objects employed markers that were integral with the object to be measured, particularly flat markers (stickers applied to the object) or spherical markers fixed to the object. In both cases, these were passive markers that needed to be illuminated by an external light source to become visible to the video cameras.
  • the video cameras acquired images of the object and of the markers positioned thereon, and the position of such markers was reconstructed by using triangulation techniques.
  • a feeler with a set of markers positioned thereon: by applying photogrammetric principles to the acquired images, and knowing the intrinsic geometry of the feeler itself, it is possible to determine the spatial coordinates of the feeler tip as it moves on the surface of the object being measured, thereby allowing the computation of the overall dimensions of the object;
  • a processing unit to which the data of the images acquired by the various video cameras are sent, for synchronizing the system and processing the data.
  • the first type comprises feelers equipped with passive markers, i.e. flat optical references (generally consisting of target-shaped stickers or reflective balls), which, in order to be detected by the video cameras, need to be illuminated by suitable lights integral with the system of video cameras;
  • passive markers i.e. flat optical references (generally consisting of target-shaped stickers or reflective balls), which, in order to be detected by the video cameras, need to be illuminated by suitable lights integral with the system of video cameras;
  • the second type includes feelers equipped with flat active feelers, which do not require external illumination because they are per se luminous.
  • Some embodiments of the present invention relate to a feeler device that overcomes the drawbacks of the prior art.
  • the feeler device for photogrammetric measurements comprises a main body for holding it, a tip connected to the main body and adapted to come in contact with the external surface of an object to be measured, and a plurality of spokes adapted to support respective spherical markers internally lit by respective light sources.
  • the main body houses a plurality of kinematic and environmental sensors.
  • the main body houses an antenna for wireless communication with a remote processing unit.
  • the spherical markers are made from translucent polymeric material for omnidirectional diffusion of the light generated by the light sources.
  • the tip is made from ultra-rigid stainless steel, with the terminal part consisting of synthetic ruby.
  • the marker for a feeler device for taking photogrammetric measurements comprises a sphere of translucent polymeric material for omnidirectional diffusion of the light generated by a light source contained therein.
  • the system for taking photogrammetric measurements on a large object comprises a feeler device having a main body for holding it, a tip connected to the main body and adapted to come in contact with the external surface of an object to be measured, and a plurality of spokes adapted to support respective spherical markers internally lit by respective light sources.
  • the system further comprises a plurality of video cameras adapted to acquire images of the feeler device and a remote processing unit adapted to receive the images from the video cameras and to process them in order to determine the position of the tip as it moves on the external surface of the object to be measured, so as to compute the overall dimensions of the object.
  • the video cameras are oriented in respective Cartesian systems (x n , yn, z n ) relative to a general reference system (X, Y, Z).
  • Figure 1 is a perspective view of a feeler device according to the present invention and an associated object to be measured;
  • Figure 2 is a perspective view of the feeler device of Fig. 1.
  • the feeler device according to the present invention is equipped with specific three- dimensional "active" markers having a spherical shape, which do not need any specific external light sources and which can be framed by the video cameras of the measurement system from every angle.
  • the feeler device is also equipped with a set of kinematic and/or environmental sensors (e.g. accelerometers, temperature sensors, brightness sensors, etc.) which allow improving, enriching and/or refining the obtained measurements by correcting and compensating the measurement results according to external influential parameters.
  • kinematic and/or environmental sensors e.g. accelerometers, temperature sensors, brightness sensors, etc.
  • Figure 1 shows a perspective view of a measurement system for taking photogrammetric measurements according to the present invention.
  • the measurement system comprises a feeler device 1 , an associated object 2 to be measured, a plurality of video cameras 4, and a remote processing unit 6, e.g. a laptop computer.
  • the video cameras 4 are oriented in respective Cartesian systems Xn, yn, Zn relative to a general reference system X, Y, Z.
  • the video cameras 4 are adapted to acquire images of the feeler device 1.
  • the processing unit 6 is adapted to receive the acquired images from the video cameras 4 and to process them in order to determine the position of the feeler device 1 relative to the object 2.
  • the feeler device 1 comprises a main body 8 for holding it, a tip 10 connected to the main body 8 and adapted to come in contact with the external surface of the object 2 to be measured, a plurality of spokes 12 adapted to support respective spherical markers 14 internally lit by light sources, preferably infrared (or visible-spectrum) LEDs.
  • the main body 8 is adapted to accommodate batteries for supplying power to the spherical active markers 14.
  • the main body 8 houses a plurality of kinematic and environmental sensors (e.g. accelerometer, temperature sensor, humidity sensor, etc.), an antenna for wireless communication with the processing unit 6, and a button for measurement acquisition. All these devices are powered by batteries housed in the main body 8.
  • kinematic and environmental sensors e.g. accelerometer, temperature sensor, humidity sensor, etc.
  • antenna for wireless communication with the processing unit 6, and a button for measurement acquisition. All these devices are powered by batteries housed in the main body 8.
  • the feeler device 1 communicates to the processing unit 6 operation data that will allow the processing unit 6 to diagnose possible faults in the feeler device 1.
  • the processing unit 6 is also adapted to determine, by using triangulation techniques known to those skilled in the art, the position of the tip 10 as it moves along the external surface of the object 2 to be measured, and then to compute, by using per se known techniques, the overall dimensions of the object 2.
  • Every component of the feeler 1 is provided with internal wires with quick-coupling connectors at their ends for the power connection.
  • Such connectors (designated as 50 in Figure 2) will allow the components to be easily interchanged for the purpose of customizing the configuration of the feeler 1 in order to adapt it to specific measurement requirements.
  • the markers 14 are made from translucent polymeric material for omnidirectional diffusion of the light generated by the internal LEDs.
  • the tip 10 is made from ultra-rigid stainless steel, with the terminal part consisting of synthetic ruby.
  • the main body 8, the spokes 12 and the connectors 50 are made from composite material, preferably carbon fiber or the like.
  • the feeler device 1 of the present invention overcomes the problems highlighted in the analysis of the prior art, thus speeding up and improving the effectiveness of the entire measurement system.
  • the feeler device 1 is "modular” because its physical structure can be changed by adding or removing elements (markers, sensors, contact tip, etc.) as necessary in accordance with the purposes of the measurement.
  • the modularity of the feeler proposed herein allows structuring the most appropriate geometry depending on the characteristics of the object 2 that needs to be measured, so that even deep undercuts can be reached or shadow areas can be avoided where the video cameras 4 would otherwise not be able to frame the feeler 1.
  • the feeler 1 is "self-powered” by a suitable set of batteries, and is connected in wireless mode to the measurement system (video cameras 4 and control unit 6 for data processing).
  • the spherical markers 14 are self-lit by the LEDs included therein, which allow full round diffusion of the light due to the material they are made of and to the specific finishing thereof (glazing). Moreover, the spherical markers 14 are visible in full round to the different video cameras 4 of the system because of their three-dimensionality, which considerably reduces the complexity of use of the feeler 1, since it does not need to take a specific orientation towards the video cameras 4 during the measurement operations. In addition, the shadow areas where the feeler 1 is not visible to the video cameras are significantly reduced.
  • the measurement system is modular because it is made up of a number of components that can be assembled in different configurations according to the measurement needs (number of video cameras 4, coverage of the measurement space, shape of the object to be measured, presence of undercuts, etc.).
  • the feeler device 1 is equipped with kinematic, orientation and environmental sensors for correcting the measurement values according to the measurement conditions, leading to higher quality of the readings obtained; furthermore, it is constantly in communication, via the wireless connection, with the processing unit 6, which can diagnose in real time its operating condition and efficiency.
  • the markers 14 can be seen by the video cameras 4 from all angles;
  • the feeler 1 can be adapted to different geometries of the measurement space, of the object 2 to be measured, and of the layout of the video cameras 4;
  • the presence of additional sensors allows constant monitoring of the operating condition and effectiveness/efficacy of the unit. It also allows correcting the measurement results according to the environmental and operating conditions in which the measurement is being carried out;
  • the wireless connection to the central processing unit 6 allows continuous exchange of information between the two elements for the purpose of optimizing the measurement; - no external lighting system is required, thus considerably reducing the overall dimensions and complexity (also as concerns the power supply) of the whole system, as well as the costs thereof;
  • the modularity and the wireless connection of the feeler 1 and video cameras 4 ensure better flexibility of use of the measurement system as a whole.
  • the feeler 1 proposed herein is particularly suited to all those contexts in which dimension and tolerance verifications have to be carried out on large objects.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention a trait à un dispositif palpeur pour des mesures photogrammétriques, qui comprend : un corps principal servant à retenir ledit dispositif; une pointe reliée au corps principal et conçue pour entrer en contact avec la surface externe d'un objet à mesurer; une pluralité de rayons prévus pour porter des marqueurs sphériques respectifs éclairés de l'intérieur par des sources lumineuses respectives.
PCT/IB2017/050089 2016-01-11 2017-01-09 Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d'objets Ceased WO2017122112A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17707399.6A EP3403052A1 (fr) 2016-01-11 2017-01-09 Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d'objets

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102016000001556 2016-01-11
ITUB2016A009908A ITUB20169908A1 (it) 2016-01-11 2016-01-11 Dispositivo tastatore, marker per dispositivo tastatore e sistema di misura per effettuare misure fotogrammetriche di oggetti di grandi dimensioni

Publications (1)

Publication Number Publication Date
WO2017122112A1 true WO2017122112A1 (fr) 2017-07-20

Family

ID=55806718

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2017/050089 Ceased WO2017122112A1 (fr) 2016-01-11 2017-01-09 Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d'objets

Country Status (3)

Country Link
EP (1) EP3403052A1 (fr)
IT (1) ITUB20169908A1 (fr)
WO (1) WO2017122112A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110319816A (zh) * 2018-03-29 2019-10-11 上海勘测设计研究院有限公司 基于摄影测量技术的地质编录系统及编录方法
WO2021099648A1 (fr) * 2019-11-18 2021-05-27 Asociacion Centro Tecnologico Ceit Système de contrôle tridimensionnel par vision photométrique
WO2025208040A1 (fr) * 2024-03-29 2025-10-02 Faro Technologies, Inc. Système de balayage 3d portatif utilisant des caméras de suivi

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5440392A (en) * 1991-10-11 1995-08-08 Metronor As Method and system for point by point measurement of spatial coordinates
US6611141B1 (en) * 1998-12-23 2003-08-26 Howmedica Leibinger Inc Hybrid 3-D probe tracked by multiple sensors
US20050000102A1 (en) * 1997-06-12 2005-01-06 Ralf Christoph Coordinate measuring instrument with feeler element and optical system for measuring the position of the feeler element
WO2008113147A2 (fr) * 2007-03-16 2008-09-25 EMBRAER - Empresa Brasileira de Aeronáutica S.A. Dispositif et procédé de mesure de photogrammétrie

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2629048B1 (fr) * 2012-02-20 2018-10-24 Tesa Sa Palpeur

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5440392A (en) * 1991-10-11 1995-08-08 Metronor As Method and system for point by point measurement of spatial coordinates
US20050000102A1 (en) * 1997-06-12 2005-01-06 Ralf Christoph Coordinate measuring instrument with feeler element and optical system for measuring the position of the feeler element
US6611141B1 (en) * 1998-12-23 2003-08-26 Howmedica Leibinger Inc Hybrid 3-D probe tracked by multiple sensors
WO2008113147A2 (fr) * 2007-03-16 2008-09-25 EMBRAER - Empresa Brasileira de Aeronáutica S.A. Dispositif et procédé de mesure de photogrammétrie

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SMARTER HOME LIFE: "Review: Cree 4Flow 60 Watt Equivalent Soft White LED Light Bulb", 23 November 2014 (2014-11-23), pages 1, XP054976764, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=ic47BLkfJYU> [retrieved on 20160905] *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110319816A (zh) * 2018-03-29 2019-10-11 上海勘测设计研究院有限公司 基于摄影测量技术的地质编录系统及编录方法
WO2021099648A1 (fr) * 2019-11-18 2021-05-27 Asociacion Centro Tecnologico Ceit Système de contrôle tridimensionnel par vision photométrique
WO2025208040A1 (fr) * 2024-03-29 2025-10-02 Faro Technologies, Inc. Système de balayage 3d portatif utilisant des caméras de suivi

Also Published As

Publication number Publication date
EP3403052A1 (fr) 2018-11-21
ITUB20169908A1 (it) 2017-07-11

Similar Documents

Publication Publication Date Title
US11035660B2 (en) Inertial dimensional metrology
EP0607303B1 (fr) Procede et systeme de mesure point par point de coordonnees spatiales
CN103759669B (zh) 一种大型零件的单目视觉测量方法
US7414732B2 (en) Method and device for determining the 3D profile of an object
US20180135969A1 (en) System for measuring the position and movement of an object
US20190079522A1 (en) Unmanned aerial vehicle having a projector and being tracked by a laser tracker
US10197394B2 (en) Method and system for analyzing spatial measuring data
Liu et al. A single-station multi-tasking 3D coordinate measurement method for large-scale metrology based on rotary-laser scanning
CN101881597B (zh) 多层线阵激光光斑位置识别系统及检测方法
CN111256592B (zh) 结构光传感器的外参标定装置及方法
CN103308028A (zh) 三轴气浮台姿态角双目立体视觉测量装置及其测量方法
WO2017122112A1 (fr) Dispositif palpeur, marqueur pour dispositif palpeur, et système permettant de réaliser des mesures photogrammétriques d&#39;objets
CA2443263C (fr) Methode rationalisee et appareil pour aligner un capteur sur un aeronef
CN102914275A (zh) 带有二维激光轮廓扫描传感器的三目摄像机三维轮廓测量系统
CN114459345A (zh) 基于视觉空间定位的飞机机身位置姿态检测系统及方法
Turgalieva et al. Research of autocollimating angular deformation measurement system for large-size objects control
CN110243293A (zh) 基于结构光和机器视觉的管片错台快速检测装置与方法
Peng et al. A measuring method for large antenna assembly using laser and vision guiding technology
IT201900012498A1 (it) Modulo satellitare per la determinazione di assetto
CN103712603B (zh) 基于平面光栅的三维视觉位姿测量装置及其测量方法
Kim et al. Developing a robust sensing system for remote relative 6-DOF motion using 1-D laser sensors
CN204373649U (zh) 一种用于工业摄影测量系统的测量笔
CN119879722B (zh) 一种长距离高精度六自由度绝对位姿标定方法及系统
CN202885786U (zh) 带有二维激光轮廓扫描传感器的三目摄像机三维轮廓测量系统
Choudhary et al. Distance Measurement for UAVs in Deep Hazardous Tunnels

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17707399

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2017707399

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2017707399

Country of ref document: EP

Effective date: 20180813