WO2021099648A1 - Dimensional control system based on photogrammetric vision - Google Patents
Dimensional control system based on photogrammetric vision Download PDFInfo
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- WO2021099648A1 WO2021099648A1 PCT/ES2019/070786 ES2019070786W WO2021099648A1 WO 2021099648 A1 WO2021099648 A1 WO 2021099648A1 ES 2019070786 W ES2019070786 W ES 2019070786W WO 2021099648 A1 WO2021099648 A1 WO 2021099648A1
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- 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
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- 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
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- 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
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- 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
- G01C11/30—Interpretation of pictures by triangulation
Definitions
- the present invention refers to the dimensional control of objects of high geometric complexity, proposing a dimensional control system with an improved configuration that by means of computer vision using photogrammetry allows to measure said objects of high geometric complexity in a precise, fast, efficient and flexible way. .
- containers to house and transport different types of products are known in the logistics sector, said containers having a specific shape according to the products that are housed.
- These containers are usually manufactured based on a metallic support structure to which metallic and / or plastic elements are attached to fix the products.
- containers are objects of high geometric complexity whose precise measurement is critical for their correct operation and integration in production lines and robotic systems. Any deviation, or deformation, in the container can lead to problems in their use, such as damage to the robotic systems that handle them, or stops in the production lines, so the dimensional control of the containers is critical.
- probe-based measurement systems are known. These are robotic systems in which a probe element locates specific positions of the object to be measured.
- One of the main disadvantages of these measuring equipment is their cost.
- the personnel in charge of these operations must be highly trained in matters of dimensional control, calculation of tolerances, mathematical calculations, etc.
- the measurement is slow due to the fact that in the process a robotic arm has to be brought close to each control point and this must be recognized by the control device and sometimes the position of the apparatus.
- the operator may forget to control at some point.
- Laser vision systems are also known, where the measurement is performed by means of a 3D reconstruction of the geometry of the container using point laser triangulation of its surface. They are systems that can obtain high measurement precision, but are expensive and their use requires multiple measurement passes to eliminate areas that the laser beam cannot reach due to occlusions produced by elements of the container. The amount of data generated by this type of system and the speed of processing and acquisition of the same make it not useful for those applications in which a great speed is needed in the measurement process.
- 3D scanners also allow an accurate reconstruction of an object's geometry.
- the operator passes the scanner over the entire surface of the object to be measured.
- this process is slow and complex, since there are many surfaces to measure and there are areas that are difficult to access for the scanner.
- the object of the present invention is a dimensional control system using photogrammetric vision to measure an object of high geometric complexity in a precise, fast, efficient and flexible way.
- the system proposes a measurement solution based on short-range photogrammetry.
- Photogrammetry allows obtaining quantitative information on the quality of objects or environments from the information obtained through photographs or related sensors.
- the technique is fundamentally based on the triangulation of existing reference points in different photographs taken from different points of view.
- the dimensional control system through photogrammetric vision comprises:
- a structure on which the cameras are available the object being available inside the structure, and where the structure comprises: o fixed profiles, and o mobile profiles movable with respect to the fixed profiles,
- a control unit configured to obtain dimensional information of the object from the visualization of the reference markers obtained by the cameras.
- This system allows, on the one hand, to carry out measurements quickly and with sufficient precision by having the capture of multiple cameras fixed in the structure.
- the structure where the cameras are fixable results in a flexible system that can easily be adapted to objects of different geometries, thanks to having mobile profiles and means for fixing the mobile profiles and the cameras in the required position.
- the system results in an economical solution compared to the container testing and metrology systems currently used. Description of the figures
- Figure 1 shows a perspective view of the dimensional control system proposed by the invention.
- Figure 2 shows a perspective view of the dimensional control system with an object of high geometric complexity arranged inside.
- Figure 3 shows a detailed view of one of the reference markers that are arranged on the object to be measured.
- Figure 1 shows the dimensional control system by photogrammetric vision proposed by the invention for the measurement of an object (1) of high geometric complexity.
- the dimensional control system comprises a structure (2,3) made up of fixed profiles (2) and mobile profiles (3), cameras (4) available in the profiles (2,3) of the structure and some markers of reference (5) available in the object (1) to be measured.
- Figure 2 shows the system of figure 1 with the object (1) of high geometric complexity that is to be measured arranged within the structure formed by the fixed profiles (2) and the mobile profiles (3). For reasons of clarity in said figure 2 the chambers (4) are not represented.
- the mobile profiles (3) are movable with respect to the fixed profiles (2), the mobile profiles (3) having first fixing means for fixing the mobile profiles (3) on the fixed profiles (2). In this way the cameras (4) that are arranged on the mobile profiles (3) are movable by moving the mobile profiles
- the mobile profiles (3) being fixable in the required position with respect to the fixed profiles (2).
- the fixed profiles (2) and the mobile profiles (3) have second fixing means for fixing the cameras (4) on the profiles (2,3). In this way, the cameras
- the cameras (4) can be arranged in the structure (2,3) according to the required position and orientation, so that a highly flexible system is obtained that can be adapted to objects (1) of different geometries.
- the fixing means for fixing the mobile profiles (3) on the fixed profiles (2), or the fixing means for fixing the cameras (4) on the profiles (2,3) can be any conventional fixing element, such as such as threaded screws and tightening nuts, without the realization of said fixing means being limiting for the invention.
- the dimensional control system additionally comprises a control unit that is configured to obtain dimensional information of the object (1) to be measured from the visualization of the reference markers (5) with the cameras (4).
- the control unit has photogrammetry and stereovision algorithms and methods for determining the spatial positions of the reference markers (5).
- the control unit allows the implementation of marker detection algorithms (5), as well as methods to resolve the spatial position of the markers (5) by triangulation.
- control unit makes it possible to determine the geometry of the object (1) and compare it with its ideal geometry, being able to determine if the object (1) is out of geometry.
- Each camera (4) is arranged in the structure (2.3) with an orientation such that each reference marker (5) is observable by at least two of the cameras (4) of the system. In this way, the spatial position of each marker (5) is determinable by triangulation techniques from the information obtained from at least two photographs taken by each of the two cameras (4).
- the cameras (4) are arranged in the structure (2.3) so that they are oriented to visualize the complete geometry of the object (1).
- FIG. 1 shows a set of cameras (4) arranged in the structure (2,3) according to merely illustrative positions and orientations, which are in no way limiting to the invention.
- the reference markers (5) can be visualized by more than two cameras (4), so that the multiple measurements of said cameras (4) are used to improve the precision of the estimation of the spatial position of the marker (5).
- the dimensional control system of the invention additionally comprises lighting means to illuminate the reference markers (5) and the object (1) to be measured.
- the lighting means establish lighting conditions that avoid the presence of shadows or bright areas on the markers (5) and the object (1) to be measured.
- the lighting means can comprise lamps that work in the visible spectrum, or lamps that work in the infrared, the latter being less sensitive to the effects of variations in the lighting of the environment in which the measurements are made.
- FIG 3 shows an example of embodiment of the reference markers (5) of the dimensional control system.
- Each reference marker comprises a coupling part (5.1) to fix the marker (5) on the object (1) to be measured, and reference spheres (5.2) that are attached to the coupling part (5.1) by means of some rods (5.3).
- the coupling part (5.1) has a reciprocal shape to a part of the object (1), so that a quick positioning and dismounting of the marker (5) can be established, so that the total measurement time of the object is reduced ( 1).
- the spherical shape (5.2) allows an unambiguous identification of the reference marker (5) by the control unit regardless of the camera (4) from which it was viewed.
- the rods (5.3) allow to establish a separation of the reference spheres
- the structure (2,3) that supports the chambers (4) has a cubic or rectangular shape, preferably made up of twelve fixed profiles (2) and six mobile profiles ( 3), where each of the mobile profiles (3) is arranged between two of the fixed profiles (2).
- the part of the structure formed by the twelve fixed profiles comprises a first set of four front fixed profiles (2.1, 2.2, 2.3,
- Each set of front and rear fixed profiles is made up of an upper horizontal fixed profile (2.1, 2.5), a lower horizontal fixed profile (2.2, 2.6), a first lateral fixed profile (2.3, 2.7) and a second lateral fixed profile ( 2.4, 2.8), the upper horizontal fixed profile (2.1,
- each set attached to the lower horizontal fixed profile (2.2, 2.6) by means of the lateral fixed profiles (2.3, 2.4, 2.7, 2.8).
- the four longitudinal fixed profiles comprise a first upper longitudinal fixed profile (2.9), a second upper longitudinal fixed profile (2.10), a first lower longitudinal fixed profile (2.11) and a second lower longitudinal fixed profile (2.12).
- the part of the structure formed by the six mobile profiles comprises a front mobile profile (3.1) that is arranged in sliding between the two lateral fixed profiles (2.3, 2.4) of the first set, a rear mobile profile (3.2) that is arranged in sliding between the two lateral fixed profiles (2.7, 2.8) of the second set, an upper mobile profile
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Abstract
Description
DESCRIPCIÓN DESCRIPTION
SISTEMA DE CONTROL DIMENSIONAL MEDIANTE VISIÓN FOTOGRA MÉTRICA DIMENSIONAL CONTROL SYSTEM THROUGH PHOTOGRAPHIC VISION
Sector de la técnica Technical sector
La presente invención se refiere al control dimensional de objetos de alta complejidad geométrica, proponiendo un sistema de control dimensional con una configuración mejorada que mediante visión por computador usando fotogrametría permite medir dichos objetos de alta complejidad geométrica de una forma precisa, rápida, eficiente y flexible. The present invention refers to the dimensional control of objects of high geometric complexity, proposing a dimensional control system with an improved configuration that by means of computer vision using photogrammetry allows to measure said objects of high geometric complexity in a precise, fast, efficient and flexible way. .
Estado de la técnica State of the art
Es conocido en el sector logístico el empleo de contenedores para alojar y transportar diferentes tipos de productos, presentado dichos contenedores una forma específica de acuerdo con los productos que se alojan. Estos contenedores suelen estar fabricados en base a una estructura metálica de soporte a la que se adjuntan elementos metálicos y/o plásticos para la fijación de los productos. The use of containers to house and transport different types of products is known in the logistics sector, said containers having a specific shape according to the products that are housed. These containers are usually manufactured based on a metallic support structure to which metallic and / or plastic elements are attached to fix the products.
Estos contenedores son unos objetos de alta complejidad geométrica cuya medición precisa es crítica para su correcto funcionamiento e integración en líneas de producción y sistemas robotizados. Cualquier desviación, o deformación, en el contenedor puede conllevar a problemas en el uso de los mismos, como daños en los sistemas robotizados que trabajan manipulándolos, o paradas en las líneas de producción, por lo que el control dimensional de los contenedores es crítico. These containers are objects of high geometric complexity whose precise measurement is critical for their correct operation and integration in production lines and robotic systems. Any deviation, or deformation, in the container can lead to problems in their use, such as damage to the robotic systems that handle them, or stops in the production lines, so the dimensional control of the containers is critical.
En la actualidad existen diferentes sistemas de comprobación y metrología para controlar la forma dimensional de los contenedores. Currently there are different checking and metrology systems to control the dimensional shape of containers.
Por un lado, son conocidos los útiles mecánicos para el control de cotas. Estos útiles son elementos mecánicos que permiten comprobar las tolerancias y posicionamiento de los componentes de un contenedor, pero tienen una serie de problemáticas. Los útiles están construidos exprofeso para cada tipo de contenedor, lo cual resulta en que no sean elementos versátiles que puedan ser aplicables a diferentes tipos de contenedores. Asimismo, el tiempo de control es elevado debido a la cantidad de puntos a controlar, y además implican procesos manuales de inspección en donde el operario puede olvidar fácilmente el control de algún punto. Además, las medidas pueden verse afectadas debido a cambios de temperatura en la planta en donde se emplean los contenedores. On the one hand, mechanical tools for height control are known. These tools are mechanical elements that allow checking the tolerances and positioning of the components of a container, but they have a series of problems. The tools are built expressly for each type of container, which results in that they are not versatile elements that can be applied to different types of containers. Likewise, the control time is high due to the number of points to be controlled, and they also involve manual inspection processes where the operator can easily forget to control any point. In addition, the measurements may be affected due to temperature changes in the plant where the containers are used.
Por otro lado, son conocidos los sistemas de medición basados en palpadores. Se trata de sistemas robotizados en los que un elemento palpador localiza posiciones concretas del objeto a medir. Una de las principales desventajas de estos equipos de medición es el coste de los mismos. Además, el personal al cargo de estas operaciones ha de estar muy formado en cuestiones de control dimensional, cálculo de tolerancias, cálculos matemáticos, etc. Además, en el caso de los palpadores, la medición es lenta debido, a que en el proceso hay que acercar un brazo robotizado a cada punto de control y éste debe ser reconocido por el aparato de control y en ocasiones se debe trasladar la posición del aparato. Aún, es más, como en el caso de los útiles de control, el operador puede olvidar el control de algún punto. On the other hand, probe-based measurement systems are known. These are robotic systems in which a probe element locates specific positions of the object to be measured. One of the main disadvantages of these measuring equipment is their cost. In addition, the personnel in charge of these operations must be highly trained in matters of dimensional control, calculation of tolerances, mathematical calculations, etc. Furthermore, in the case of probes, the measurement is slow due to the fact that in the process a robotic arm has to be brought close to each control point and this must be recognized by the control device and sometimes the position of the apparatus. Furthermore, as in the case of control tools, the operator may forget to control at some point.
También son conocidos los sistemas de visión láser, en donde la medición es realizada mediante una reconstrucción 3D de la geometría del contenedor usando triangulación con láser de puntos de su superficie. Son sistemas que pueden obtener una gran precisión de medida, pero son costosos y su uso requiere la realización de múltiples pasadas de medida, para eliminar zonas a las que el haz láser no puede alcanzar debido a las oclusiones producidas por elementos del contenedor. La cantidad de datos generada por este tipo de sistema y la velocidad de procesamiento y de adquisición de los mismos hace que no sean útiles para aquellas aplicaciones en las que se necesita una gran rapidez en el proceso de medición. Laser vision systems are also known, where the measurement is performed by means of a 3D reconstruction of the geometry of the container using point laser triangulation of its surface. They are systems that can obtain high measurement precision, but are expensive and their use requires multiple measurement passes to eliminate areas that the laser beam cannot reach due to occlusions produced by elements of the container. The amount of data generated by this type of system and the speed of processing and acquisition of the same make it not useful for those applications in which a great speed is needed in the measurement process.
Los escáneres 3D también permiten una reconstrucción precisa de la geometría de un objeto. En el caso de los escáneres manuales, el operario pasa el escáner por toda la superficie del objeto a medir. En el caso de geometrías complejas, como las de los contenedores, este proceso es lento y complejo, ya que existen muchas superficies a medir y existen zonas de difícil acceso para el escáner. 3D scanners also allow an accurate reconstruction of an object's geometry. In the case of manual scanners, the operator passes the scanner over the entire surface of the object to be measured. In the case of complex geometries, such as those of containers, this process is slow and complex, since there are many surfaces to measure and there are areas that are difficult to access for the scanner.
Se hace por tanto necesario un sistema alternativo que puede emplearse en la medición de objetos de alta complejidad geométrica, tal como por ejemplo los contenedores. An alternative system is therefore necessary that can be used in the measurement of objects of high geometric complexity, such as, for example, containers.
Objeto de la invención La presente invención tiene por objeto un sistema de control dimensional mediante visión fotogramétrica para medir un objeto de alta complejidad geométrica de una forma precisa, rápida, eficiente y flexible. Object of the invention The object of the present invention is a dimensional control system using photogrammetric vision to measure an object of high geometric complexity in a precise, fast, efficient and flexible way.
El sistema propone una solución de medición basada en fotogrametría de corto alcance. La fotogrametría permite obtener información cuantitativa de calidad de objetos o entornos a partir de la información obtenida mediante fotografías o sensores relacionados. La técnica se basa fundamentalmente en la triangulación de puntos de referencia existentes en distintas fotografías tomadas desde distintos puntos de vista. The system proposes a measurement solution based on short-range photogrammetry. Photogrammetry allows obtaining quantitative information on the quality of objects or environments from the information obtained through photographs or related sensors. The technique is fundamentally based on the triangulation of existing reference points in different photographs taken from different points of view.
El sistema de control dimensional mediante visión fotogramétrica comprende: The dimensional control system through photogrammetric vision comprises:
• unos marcadores de referencia disponibles sobre el objeto a medir; • some reference markers available on the object to be measured;
• unas cámaras para visualización de los marcadores de referencia; • cameras for viewing the reference markers;
• una estructura sobre la que son disponibles las cámaras, siendo el objeto disponible en el interior de la estructura, y en donde la estructura comprende: o unos perfiles fijos, y o unos perfiles móviles desplazables con respecto a los perfiles fijos, • a structure on which the cameras are available, the object being available inside the structure, and where the structure comprises: o fixed profiles, and o mobile profiles movable with respect to the fixed profiles,
■ disponiendo los perfiles móviles de unos primeros medios de fijación para la fijación de los perfiles móviles en los perfiles fijos, y ■ providing the mobile profiles with first fixing means for fixing the mobile profiles on the fixed profiles, and
■ disponiendo los perfiles fijos y móviles de unos segundos medios de fijación para la fijación de las cámaras en los perfiles; y ■ providing the fixed and mobile profiles with second fixing means for fixing the cameras on the profiles; Y
• una unidad de control configurada para obtener información dimensional del objeto a partir de la visualización de los marcadores de referencia obtenida por las cámaras. • a control unit configured to obtain dimensional information of the object from the visualization of the reference markers obtained by the cameras.
Este sistema permite por una parte realizar las medidas de una forma rápida y con una precisión suficiente al contar con la captura de múltiples cámaras fijas en la estructura. Asimismo, la estructura en donde son fijables las cámaras resulta en un sistema flexible que puede adaptarse fácilmente a objetos de geometrías diferentes, gracias a disponer de perfiles móviles y medios para la fijación de los perfiles móviles y de las cámaras en la posición requerida. Además, el sistema resulta en una solución económica en comparación con los sistemas de comprobación y metrología de contenedores empleados actualmente. Descripción de las figuras This system allows, on the one hand, to carry out measurements quickly and with sufficient precision by having the capture of multiple cameras fixed in the structure. Likewise, the structure where the cameras are fixable results in a flexible system that can easily be adapted to objects of different geometries, thanks to having mobile profiles and means for fixing the mobile profiles and the cameras in the required position. In addition, the system results in an economical solution compared to the container testing and metrology systems currently used. Description of the figures
La figura 1 muestra una vista en perspectiva del sistema de control dimensional propuesto por la invención. Figure 1 shows a perspective view of the dimensional control system proposed by the invention.
La figura 2 muestra una vista en perspectiva del sistema de control dimensional con un objeto de alta complejidad geométrica dispuesto en su interior. Figure 2 shows a perspective view of the dimensional control system with an object of high geometric complexity arranged inside.
La figura 3 muestra una vista en detalle de uno de los marcadores de referencia que se disponen sobre el objeto a medir. Figure 3 shows a detailed view of one of the reference markers that are arranged on the object to be measured.
Descripción detallada de la invención Detailed description of the invention
En la figura 1 se muestra el sistema de control dimensional mediante visión fotogramétrica propuesto por la invención para la medición de un objeto (1) de alta complejidad geométrica. Figure 1 shows the dimensional control system by photogrammetric vision proposed by the invention for the measurement of an object (1) of high geometric complexity.
El sistema de control dimensional comprende una estructura (2,3) formada por unos perfiles fijos (2) y unos perfiles móviles (3), unas cámaras (4) disponibles en los perfiles (2,3) de la estructura y unos marcadores de referencia (5) disponibles en el objeto (1) a medir. The dimensional control system comprises a structure (2,3) made up of fixed profiles (2) and mobile profiles (3), cameras (4) available in the profiles (2,3) of the structure and some markers of reference (5) available in the object (1) to be measured.
En la figura 2 se muestra el sistema de la figura 1 con el objeto (1) de alta complejidad geométrica que se pretende medir dispuesto dentro de la estructura formada por los perfiles fijos (2) y los perfiles móviles (3). Por motivos de claridad en dicha figura 2 no están representadas las cámaras (4). Figure 2 shows the system of figure 1 with the object (1) of high geometric complexity that is to be measured arranged within the structure formed by the fixed profiles (2) and the mobile profiles (3). For reasons of clarity in said figure 2 the chambers (4) are not represented.
Los perfiles móviles (3) son desplazables con respecto a los perfiles fijos (2), disponiendo los perfiles móviles (3) de unos primeros medios de fijación para la fijación de los perfiles móviles (3) en los perfiles fijos (2). De esta manera las cámaras (4) que se disponen sobre los perfiles móviles (3) son desplazables mediante el desplazamiento de los perfiles móvilesThe mobile profiles (3) are movable with respect to the fixed profiles (2), the mobile profiles (3) having first fixing means for fixing the mobile profiles (3) on the fixed profiles (2). In this way the cameras (4) that are arranged on the mobile profiles (3) are movable by moving the mobile profiles
(3), siendo los perfiles móviles (3) fijables en la posición requerida con respecto a los perfiles fijos (2). (3), the mobile profiles (3) being fixable in the required position with respect to the fixed profiles (2).
Asimismo, los perfiles fijos (2) y los perfiles móviles (3) tienen unos segundos medios de fijación para la fijación de las cámaras (4) en los perfiles (2,3). De esta manera, las cámarasLikewise, the fixed profiles (2) and the mobile profiles (3) have second fixing means for fixing the cameras (4) on the profiles (2,3). In this way, the cameras
(4) son disponibles en los perfiles (2.3) según la ubicación y orientación requeridas de acuerdo con la geometría del objeto (1) a medir. (4) are available in profiles (2.3) according to the required location and orientation of according to the geometry of the object (1) to be measured.
Con esta disposición las cámaras (4) se pueden disponer en la estructura (2,3) según la posición y orientación requerida, de forma que se obtiene un sistema de gran flexibilidad que se puede adaptar a objetos (1) de diferentes geometrías. With this arrangement the cameras (4) can be arranged in the structure (2,3) according to the required position and orientation, so that a highly flexible system is obtained that can be adapted to objects (1) of different geometries.
Los medios de fijación para fijar los perfiles móviles (3) en los perfiles fijos (2), o los medios de fijación para fijar las cámaras (4) en los perfiles (2,3), pueden ser cualquier elemento de fijación convencional, tal como por ejemplo tornillos roscados y tuercas de apriete, sin que la realización de dichos medios de fijación resulte limitativa para la invención. The fixing means for fixing the mobile profiles (3) on the fixed profiles (2), or the fixing means for fixing the cameras (4) on the profiles (2,3), can be any conventional fixing element, such as such as threaded screws and tightening nuts, without the realization of said fixing means being limiting for the invention.
El sistema de control dimensional adicionalmente comprende una unidad de control que está configurada para obtener información dimensional del objeto (1) a medir a partir de la visualización de los marcadores de referencia (5) con las cámaras (4). The dimensional control system additionally comprises a control unit that is configured to obtain dimensional information of the object (1) to be measured from the visualization of the reference markers (5) with the cameras (4).
La unidad de control dispone de algoritmos y métodos de fotogrametría y estereovisión para la determinación de las posiciones espaciales de los marcadores de referencia (5). La unidad de control permite implementar algoritmos de detección de los marcadores (5), así como métodos para resolver la posición espacial de los marcadores (5) mediante triangulación. The control unit has photogrammetry and stereovision algorithms and methods for determining the spatial positions of the reference markers (5). The control unit allows the implementation of marker detection algorithms (5), as well as methods to resolve the spatial position of the markers (5) by triangulation.
De acuerdo con ello, la unidad de control permite determinar la geometría del objeto (1) y compararla con su geometría ideal, pudiéndose determinar si el objeto (1) está fuera de geometría. Accordingly, the control unit makes it possible to determine the geometry of the object (1) and compare it with its ideal geometry, being able to determine if the object (1) is out of geometry.
Cada cámara (4) está dispuesta en la estructura (2.3) con una orientación de forma que cada marcador de referencia (5) es observable por al menos dos de las cámaras (4) del sistema. De esta manera, la posición espacial de cada marcador (5) es determinable mediante técnicas de triangulación a partir de la información obtenida de al menos dos fotografías tomadas por cada una de las dos cámaras (4). Each camera (4) is arranged in the structure (2.3) with an orientation such that each reference marker (5) is observable by at least two of the cameras (4) of the system. In this way, the spatial position of each marker (5) is determinable by triangulation techniques from the information obtained from at least two photographs taken by each of the two cameras (4).
Las cámaras (4) se disponen en la estructura (2.3) de forma que se orientan para visualizar la geometría completa del objeto (1). The cameras (4) are arranged in the structure (2.3) so that they are oriented to visualize the complete geometry of the object (1).
El numero de cámaras (4), y su posición y orientación en la estructura (2.3), se seleccionan en función de la geometría del objeto (1) a medir, y del número y tipo de marcadores de referencia (5) empleados. En la figura 1 se han representado un conjunto de cámaras (4) dispuestas en la estructura (2,3) según posiciones y orientaciones meramente ilustrativas, que en ningún caso resultan limitativas para la invención. The number of cameras (4), and their position and orientation in the structure (2.3), are selected depending on the geometry of the object (1) to be measured, and the number and type of reference markers (5) used. Figure 1 shows a set of cameras (4) arranged in the structure (2,3) according to merely illustrative positions and orientations, which are in no way limiting to the invention.
Los marcadores de referencia (5) pueden ser visualizados por más de dos cámaras (4), de forma que se emplean las múltiples medidas de dichas cámaras (4) para mejorar la precisión de la estimación de la posición espacial del marcador (5). The reference markers (5) can be visualized by more than two cameras (4), so that the multiple measurements of said cameras (4) are used to improve the precision of the estimation of the spatial position of the marker (5).
El sistema de control dimensional de la invención adicionalmente comprende unos medios de iluminación para iluminar los marcadores de referencia (5) y el objeto (1) a medir. The dimensional control system of the invention additionally comprises lighting means to illuminate the reference markers (5) and the object (1) to be measured.
Para determinar las condiciones de iluminación se tienen en cuenta las condiciones del entorno en el que se realizan las medidas, tal como la luz del entorno y la posible existencia de polvo ambiental. Los medios de iluminación establecen unas condiciones de iluminación que evitan la presencia de sombras o zonas brillantes sobre los marcadores (5) y el objeto (1) a medir. To determine the lighting conditions, the conditions of the environment in which the measurements are made are taken into account, such as the surrounding light and the possible existence of ambient dust. The lighting means establish lighting conditions that avoid the presence of shadows or bright areas on the markers (5) and the object (1) to be measured.
Los medios de iluminación pueden comprender lámparas que trabajan en el espectro visible, o lámparas que trabajan en el infrarrojo, siendo estas últimas menos sensibles a los efectos de variaciones de la iluminación del entorno en el que se realizan las medidas. The lighting means can comprise lamps that work in the visible spectrum, or lamps that work in the infrared, the latter being less sensitive to the effects of variations in the lighting of the environment in which the measurements are made.
En la figura 3 se muestra un ejemplo de realización de los marcadores de referencia (5) del sistema de control dimensional. Cada marcador de referencia comprende una parte de acoplamiento (5.1) para fijar el marcador (5) sobre el objeto (1) a medir, y unas esferas de referencia (5.2) que están unidas a la parte de acoplamiento (5.1) por medio de unos vástagos (5.3). Figure 3 shows an example of embodiment of the reference markers (5) of the dimensional control system. Each reference marker comprises a coupling part (5.1) to fix the marker (5) on the object (1) to be measured, and reference spheres (5.2) that are attached to the coupling part (5.1) by means of some rods (5.3).
La parte de acoplamiento (5.1) tiene una forma reciproca a una parte del objeto (1), de forma que se puede establecer una rápida colocación y desmontaje del marcador (5), de forma que se reduce el tiempo total de medición del objeto (1). The coupling part (5.1) has a reciprocal shape to a part of the object (1), so that a quick positioning and dismounting of the marker (5) can be established, so that the total measurement time of the object is reduced ( 1).
La forma esférica (5.2) permite una identificación inequívoca del marcador de referencia (5) por parte de la unidad de control con independencia de la cámara (4) desde la que haya sido visualizado. Además, los vástagos (5.3) permiten establecer una separación de las esferas de referenciaThe spherical shape (5.2) allows an unambiguous identification of the reference marker (5) by the control unit regardless of the camera (4) from which it was viewed. In addition, the rods (5.3) allow to establish a separation of the reference spheres
(5.2) con respecto a la parte de acoplamiento (5.1) y por tanto con respecto al objeto (1), de forma que se facilita la identificación de dichas esferas de referencia (5.2) que son la parte del marcador (5) que es identificada por las cámaras (4). (5.2) with respect to the coupling part (5.1) and therefore with respect to the object (1), so as to facilitate the identification of said reference spheres (5.2) which are the part of the marker (5) that is identified by cameras (4).
Según el ejemplo de realización mostrado en las figuras 1 y 2, la estructura (2,3) de soporte de las cámaras (4) tiene una forma cúbica, o rectangular, preferentemente formada por doce perfiles fijos (2) y seis perfiles móviles (3), en donde cada uno de los perfiles móviles (3) está dispuesto entre dos de los perfiles fijos (2). According to the embodiment shown in Figures 1 and 2, the structure (2,3) that supports the chambers (4) has a cubic or rectangular shape, preferably made up of twelve fixed profiles (2) and six mobile profiles ( 3), where each of the mobile profiles (3) is arranged between two of the fixed profiles (2).
Como se observa en detalle en la figura 2, la parte de la estructura formada por los doce perfiles fijos comprende un primer conjunto de cuatro perfiles fijos frontales (2.1, 2.2, 2.3,As can be seen in detail in figure 2, the part of the structure formed by the twelve fixed profiles comprises a first set of four front fixed profiles (2.1, 2.2, 2.3,
2.4), un segundo conjunto de cuatro perfiles fijos traseros (2.5, 2.6, 2.7, 2.8) y cuatro perfiles fijos longitudinales (2.9, 2.10, 2.11, 2.12) que unen los cuatro perfiles fijos frontales (2.1, 2.2, 2.3, 2.4) con los cuatro perfiles fijos traseros (2.5, 2.6, 2.7, 2.8). 2.4), a second set of four rear fixed profiles (2.5, 2.6, 2.7, 2.8) and four longitudinal fixed profiles (2.9, 2.10, 2.11, 2.12) that join the four front fixed profiles (2.1, 2.2, 2.3, 2.4) with the four rear fixed profiles (2.5, 2.6, 2.7, 2.8).
Cada conjunto de perfiles fijos frontales y traseros está formado por un perfil fijo horizontal superior (2.1, 2.5), un perfil fijo horizontal inferior (2.2, 2.6), un primer perfil fijo lateral (2.3, 2.7) y un segundo perfil fijo lateral (2.4, 2.8), estando el perfil fijo horizontal superior (2.1,Each set of front and rear fixed profiles is made up of an upper horizontal fixed profile (2.1, 2.5), a lower horizontal fixed profile (2.2, 2.6), a first lateral fixed profile (2.3, 2.7) and a second lateral fixed profile ( 2.4, 2.8), the upper horizontal fixed profile (2.1,
2.5) de cada conjunto unido al perfil fijo horizontal inferior (2.2, 2.6) por medio de los perfiles fijos laterales (2.3, 2.4, 2.7, 2.8). 2.5) of each set attached to the lower horizontal fixed profile (2.2, 2.6) by means of the lateral fixed profiles (2.3, 2.4, 2.7, 2.8).
Los cuatro perfiles fijos longitudinales comprenden un primer perfil fijo longitudinal superior (2.9), un segundo perfil fijo longitudinal superior (2.10), un primer perfil fijo longitudinal inferior (2.11) y un segundo perfil fijo longitudinal inferior (2.12). The four longitudinal fixed profiles comprise a first upper longitudinal fixed profile (2.9), a second upper longitudinal fixed profile (2.10), a first lower longitudinal fixed profile (2.11) and a second lower longitudinal fixed profile (2.12).
La parte de la estructura formada por los seis perfiles móviles comprende un perfil móvil frontal (3.1) que está dispuesto en deslizamiento entre los dos perfiles fijos laterales (2.3, 2.4) del primer conjunto, un perfil móvil trasero (3.2) que está dispuesto en deslizamiento entre los dos perfiles fijos laterales (2.7, 2.8) del segundo conjunto, un perfil móvil superiorThe part of the structure formed by the six mobile profiles comprises a front mobile profile (3.1) that is arranged in sliding between the two lateral fixed profiles (2.3, 2.4) of the first set, a rear mobile profile (3.2) that is arranged in sliding between the two lateral fixed profiles (2.7, 2.8) of the second set, an upper mobile profile
(3.3) que está dispuesto en deslizamiento entre los dos perfiles fijos longitudinales superiores (2.9, 2.10), un perfil móvil inferior (3.4) que está dispuesto en deslizamiento entre los dos perfiles fijos horizontales inferiores (2.2, 2.6) del primer y segundo conjuntos de perfiles fijos frontales y traseros, un primer perfil móvil lateral (3.5) que está dispuesto en deslizamiento entre el primer perfil fijo longitudinal superior (2.9) y el primer perfil fijo longitudinal inferior (2.11), y un segundo perfil móvil lateral (3.6) que está dispuesto en deslizamiento entre el segundo perfil fijo longitudinal superior (2.10) y el segundo perfil fijo longitudinal inferior (2.12). (3.3) that is arranged in sliding between the two upper longitudinal fixed profiles (2.9, 2.10), a lower mobile profile (3.4) that is arranged in sliding between the two lower horizontal fixed profiles (2.2, 2.6) of the first and second sets of fixed front and rear profiles, a first lateral mobile profile (3.5) that is arranged in sliding between the first upper longitudinal fixed profile (2.9) and the first lower longitudinal fixed profile (2.11), and a second lateral mobile profile (3.6) that is arranged in sliding between the second upper longitudinal fixed profile (2.10) and the second profile lower longitudinal fixed (2.12).
Claims
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| PCT/ES2019/070786 WO2021099648A1 (en) | 2019-11-18 | 2019-11-18 | Dimensional control system based on photogrammetric vision |
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