• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System (1) for precision geometric control of large-dimensional three-dimensional parts (2); of the type based on photogrammetry, comprising cameras (3) for taking images from, at least, two points of view, control points arranged in said piece (2) to be captured by the cameras (3) and a processor (6) of the images captured by the cameras (3) to measure the deviation of the real positions (7) with respect to the predicted positions (8), and comprising three-dimensional control points (4) and an arrangement ( 9, 9a) of cameras (3) in sufficient number and position so that each control point (4) is taken simultaneously by, at least, three cameras (3). The invention also comprises a method for the system. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2630387A1
    申请号:ES201600130
    申请日:2016-02-17
    公开日:2017-08-21
    发明作者:Ignacio José ALONSO BORRAGAN
    申请人:INGENIO 3000 SL；
    IPC主号:
    专利说明:

    Object of the Invention
    The present invention relates to a system for precision geometric control of large three-dimensional pieces and to a method for said system. Background of the invention
    At present, the photogrammetry technique is known and used to determine the geometric properties of objects and spatial situations from instant (photographic) images. Associated with a processor that is capable of comparing the real positions with the ideal or planned positions, it serves as a quality control in the manufacture of parts, since it is able to determine if in a manufactured or real part there are deformations or variations in shape with respect to to the ideal or projected.
    Its operation is based on using at least one camera for taking images from at least two non-simultaneous positions of the object or piece to be checked where control points are arranged to be captured by said cameras, and the processor of the images captured by the cameras that compare the real positions with the ideal ones. With a single shot you can measure images in the plane. Using two shots you have two points of view similar to stereoscopic vision, so that you can obtain three-dimensional measurements, and it is normally used at long range, for cartographic measurements with aerial views and low accuracies, at medium range of large objects with medium precision, and short range for small objects and high precision.
    If you do not have a known initial position of the cameras at least, one of the control points is usually used a reference with a known distance to quantify the distances and obtain the positions of the control points, for example the distance to two known geographical landmarks, or on the plane with a graphic scale.
    However, the use of photogrammetry is not extended in the quality control of large industrial parts that require high precision, since these types of measurements need to be carried out at a short distance and with precision of the order of tenths of a millimeter, characteristics that they are not able to be implemented in photogrammetry according to their current conception if the pieces to be measured involve distances in the three dimensions of the control points that are not small compared to the distance at which the cameras are arranged (in fact the points of control are implemented through stickers arranged in a position facing the cameras, which being flat elements imply that the movement or variation of position to be measured is mainly developed in a plane or in a space of reduced depth with respect to its other two dimensions.
    On the other hand, the high precision in the measurements can be affected by various factors such as movements, however small, of the object to be measured and of the cameras between different shots and / or measurements of different pieces, by temperature changes (dilations) in the structure of the object to be measured, or vibrations by natural resonance of the structure of the object to be measured.
    For these reasons, Laser Tracker technology, or laser measurement using reflective elements at the control points, is usually used in quality control of the precision part geometry to reflect a laser beam for detection. The problem is that this technology, despite offering very high accuracies, has low performance, since it is slow and slows control operations. Furthermore, this technology does not allow the simultaneous measurement of all control points, which is affected by the described effects of movement, temperature changes and vibration.
    Description of the invention
    The system of the invention has a configuration that allows its use for the industrial verification of the geometry of large three-dimensional pieces with high precision during its quality control, being able to reach accuracies of the order of one tenth of a millimeter, and with a speed of process far superior to that of Laser Tracker technology, since it can work with single shots or images that span multiple control points simultaneously.
    The system is of the type based on photogrammetry, which includes cameras forimages, control points arranged in said piece to be captured by thecameras, and a processor of the images captured by the cameras to measure the deviation ofthe actual positions with respect to the planned positions, where according to theinvention comprises three-dimensional control points and an arrangement of camerasin sufficient number and position so that each control point is taken simultaneouslyfor at least three cameras.
    In this way, simultaneous shooting avoids errors of non-simultaneous position variations.of the control points that can occur in successive shots, and also with this systemthe cameras can be arranged in different positions for the same measurement as long asthe condition that each control point is simultaneously visualized by, whenless, three cameras, without being necessary, therefore, that the cameras are always located inpredetermined fixed positions as in laser measurement systems, increasing thesystem flexibility
    In this document, as three-dimensional control points it is meant that thethey have three dimensions in space, and they also have a configurationgeometric with a geometric center in space can be determined from its shapeexterior, so that with the images captured with its photogrammetric observation fromtwo points of view you can calculate exactly its geometric center with the accuraciesindicated. The simplest example would be the spherical shape. Also the simultaneous takemeans that cameras take one shot at a time, so that position variationsof the control points would be recorded by all cameras, unlike the shotssuccessive ones that are currently carried out, and that produce measurement errors.
    The method of the invention comprises:- arrange a series of three-dimensional control points on the part to be controlled,- place an arrangement of photogrammetry cameras so that they cover each point ofcontrol by at least three cameras,- get images of fixed scene and / or variable scene,-determine the coordinates of the geometric centers of the control pointsthree-dimensional redundantly with respect to a predetermined reference system,- compare by means of a processor the deviations of the positions obtained with some
    Correct predetermined positions with respect to the predetermined reference system, -Emit error report in case the deviations exceed the maximum acceptable, -Check the correct position of the control points in case of error report, -Discard the part in case of error report and correct position of control points.
    In this document, as fixed scene images it is understood that the cameras are in a fixed position and take images of the entire scene (the entire visible part of the piece to be controlled from each camera) simultaneously, so that using visual intersections coordinates of the points with redundancy are obtained on each point made from a minimum of three cameras or stations. As variable scene images it is understood that a series of cameras are used that can rotate around a fixed point, with variable zoom, that take simultaneous snapshots of each control point individually, so that using visual intersections on each point made coordinates of the points with redundancy are obtained from a minimum of three stations. Precisely this redundancy allows verifications of the measurements obtained to discard those that are inconsistent, increasing the accuracy of the measurement Brief Description of the Drawings
    Figure 1.- Shows a schematic view of the system of the invention applied in the measurement of a piece with an arrangement of fixed scene cameras.
    Figure 2.- Shows a schematic view of the system of the invention applied in the measurement of a piece with an arrangement of variable scene cameras.
    Figure 3 and 4. - They show each view in detail of a control point of the system of the invention and its socket, where in figure 3 the sphere is uncoupled from the socket and in figure 4 placed in said socket. Description of the Preferred Embodiment
    The system of the invention is of the photogrammetry-based type, which comprises cameras
    (3) for taking pictures, some control points to be captured by the cameras (3)
    arranged in said part (2), a processor (6) of the images captured by the cameras
    (3) to measure the deviation of the real positions (7) with respect to the planned positions (8), and may also include reference points or distances (5) to calibrate the system (1) and, where according to the invention, the system (1) comprises three-dimensional control points (4) and an arrangement (9, 9a) of cameras (3) in sufficient number and position so that each control point (4) is taken simultaneously by, at less, three cameras (3).
    It is envisaged that the three-dimensional control points (4) preferably comprise spheres (4a), as seen in Figures 3 and 4, and ideally also sockets (4b) for said spheres (4a) and fixing means of said sockets (4b) to the piece (2) to be measured and to the sphere itself (4a). Said fixing means comprise magnetic or magnetized portions (4c) capable of attaching to ferromagnetic parts of the piece and the sphere (4a), which also it will be in this case of ferromagnetic material.
    To ensure that there is no movement in the chambers or position variations due to dilations or contractions due to temperature changes and to ensure accuracy, the cameras
    (3) comprise vibration sensors (11) (accelerometers) and / or temperature sensors (12), so that no shots will be taken if said sensors (11, 12) detect vibrations or temperatures out of range. Likewise, to insulate the chambers (3) and sensors (11, 12) from dust and inclement weather, it is provided that these elements are preferably arranged inside airtight housings (10), within which it will stabilize temperature. Once the cameras are ready for the shots, it will be necessary to incorporate the necessary hardware (power) that guarantees the autonomy of the system. Wired connections (13) between cameras (3) and processor (6) are also preferred in industrial environments, since they involve less maintenance, and therefore less manipulation.
    Figure 1 shows a possible first arrangement (9) of cameras (3) in fixed scene, comprising a plurality of cameras (3) arranged in first positions determined (20) by the characteristics of the piece to be measured, which include all control points (4) (and reference points or distances (5) if any) for at least three cameras in the same simultaneous shot.
    A possible second arrangement (9a) of scene cameras (3) is shown in Figure 2variable, comprising a plurality of chambers (3) arranged in second positionsdetermined (21) and mounted on rotating stands (14) and with variable zoom (15) thatthey include an individual control point (4) in each shot for at least three cameras.
    In either of the two arrangements (9, 9a), the optimal position of the cameras (3) isthe one that guarantees that each control point (4) to be measured is observed with a minimum ofthree views, whose visuals form two to two an intersection angle (or angleparalytic) at the measurement point as close as possible to 90 degrees.
    The method for precision geometric control of three-dimensional parts comprises:- arrange a series of three-dimensional control points (4) on the part (2) to be controlled,- place an arrangement (9, 9a) of photogrammetry cameras (3) so that they cover eachcontrol point (4) by at least three cameras (4),- get images of fixed scene and / or variable scene,-determine the coordinates of the geometric centers (40) of the control points (4)three-dimensional redundantly with respect to a predetermined reference system,-Compare by means of a processor (6) the deviations of the positions obtained with somecorrect default positions with respect to the default reference system,-Emit error report in case the deviations exceed the maximum acceptable,-Check the correct position of the control points (4) in case of error reporting,-discard the piece (2) in case of error reporting and correct position of the points ofcontrol (4).
    The preferable chamber arrangements (9, 9a) will be those such that each point ofcontrol (4) is observed with a minimum of three points of view whose visuals form twotwo an angle of intersection at the measurement point as close as possible to 90 degrees.
    The stage of obtaining the coordinates of the geometric centers (40) of the points ofthree-dimensional control (4) redundantly, comprises obtaining said coordinates twoto two from at least two of the possible couples that can be configured in each groupof three cameras (3) that capture the position of each control point (4).
    Notwithstanding the foregoing, and since the description made corresponds only to one
    a preferred embodiment of the invention, it will be understood that within its essentiality multiple variations of detail may be introduced, also protected, which may affect the shape, size or manufacturing materials of the assembly or its parts, without implying any alteration of the invention as a whole, delimited only by the claims provided in the following.
    权利要求:
    Claims (15)
    [1]
    1.-System (1) for precision geometric control of large three-dimensional parts (2); of the type based on photogrammetry, comprising cameras (3) for taking images from at least two points of view, control points arranged in said part (2) to be captured by the cameras (3) and a processor (6) of the images captured by the cameras (3) to measure the deviation of the real positions (7) with respect to the planned positions (8); characterized in that it comprises three-dimensional control points (4) and an arrangement (9, 9a) of cameras (3) in sufficient number and position so that each control point (4) is simultaneously taken by at least three cameras (3 ).
    [2]
    2. System (1) for precision geometric control of large three-dimensional parts (2) according to claim 1 characterized in that the three-dimensional control points (4) comprise spheres (4a).
    [3]
    3. System (1) for precision geometric control of large three-dimensional parts (2) according to claim 2 characterized in that the control points (4) comprise sockets (4b) for the spheres (4a) and fixing means of said sockets (4b) to the piece
    (2) to be measured and to the spheres (4a).
    [4]
    4. System (1) for precision geometric control of large three-dimensional parts (2) according to claim 3 characterized in that the fixing means of the sockets (4b) comprise magnetic or magnetized portions (4c), while the parts ( 2) and the spheres comprise parts of ferromagnetic material.
    [5]
    5. System (1) for precision geometric control of large three-dimensional parts (2) according to any of the preceding claims characterized in that the cameras (3) comprise vibration sensors (11).
    [6]
    6. System (1) for precision geometric control of large three-dimensional parts (2) according to any of the preceding claims characterized in that the chambers (3) comprise temperature sensors (12).
    [7]
    7. System (1) for precision geometric control of large three-dimensional parts (2) according to any of the preceding claims characterized in that the chambers (3) are arranged inside airtight housings (10).
    [8]
    8. System (1) for precision geometric control of large three-dimensional parts (2) according to any of the preceding claims characterized in that the connections between cameras (3) and processor (6) comprise wired connections (13).
    [9]
    9. System (1) for precision geometric control of large three-dimensional parts (2) according to any of the preceding claims characterized in that it comprises a first arrangement (9) of fixed scene cameras (3), comprising a plurality of cameras (3) arranged in first determined positions (20) covering all control points (4) by at least three cameras in the same simultaneous shot.
    [10]
    10. System (1) for precision geometric control of large three-dimensional parts (2) according to any of claims 1 to 8 characterized in that it comprises a second arrangement (9a) of cameras (3) of variable scene, comprising a plurality of cameras (3) arranged in certain second positions (21) And mounted on rotating supports (14) and with variable zoom (15) that cover an individual control point (4) in each shot for at least three cameras.
    [11]
    11.-System (1) for precision geometric control of large three-dimensional parts (2) according to any of claims 9 or 10 characterized in that the cameras
    (3) are arranged so that each control point (4) to be measured is seen with a minimum of three points of view, whose visuals form two to two an intersection angle at the measurement point as close as possible to 90 degrees.
    [12]
    12.-Method for precision geometric control of large three-dimensional piecessize characterized in that it comprises:- arrange a series of three-dimensional control points (4) on the part (2) to be controlled,- place an arrangement (9, 9a) of photogrammetry cameras (3) so that they cover eachcontrol point (4) by at least three cameras (4),- get some fixed scene or variable scene images,-determine the coordinates of the geometric centers (40) of the control points (4)three-dimensional redundantly with respect to a predetermined reference system,
    -Compare by means of a processor (6) the deviations of the positions obtained with somecorrect default positions with respect to the default reference system,-Emit error report in case the deviations exceed the maximum acceptable,-Check the correct position of the control points (4) in case of error, and- Discard the part (2) in case of error report and correct position of the control points(4).
    [13]
    13.-Method for precision geometric control of large three-dimensional piecessize according to claim 12 characterized in that the step of obtaining images offixed scene or variable scene is replaced by another stage that includes obtainingFixed scene and variable scene images.
    [14]
    14.-Method for precision geometric control of large three-dimensional piecessize according to any of claims 12 or 13 characterized in that the arrangementof cameras (9, 9a) is performed so that each control point is observed with aminimum of three points of view whose visuals form two to two an angle of intersection inthe measurement point as close as possible to 90 degrees
    [15]
    15.-Method for precision geometric control of large three-dimensional piecessize according to any of claims 12 to 14 characterized in that the obtainingof the coordinates of the geometric centers (40) of the control points (4)three-dimensional redundantly is done by obtaining said coordinates two to twofrom at least two of the possible couples that can be formed in each group of threecameras (3) that capture the position of each control point (4).
    10
    eleven
    6
    Fig. 1
     6 "9a
     Fig. 2
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    同族专利:
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    ES2630387B1|2018-02-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20020048027A1|1993-05-24|2002-04-25|Alf Pettersen|Method and system for geometry measurements|
    US6901161B1|1999-09-06|2005-05-31|Pentax Corporation|Image-processing computer system for photogrammetric analytical measurement|
    EP2189753A2|2008-11-24|2010-05-26|Politechnika Slaska|Assembly stand for mineral cutting head|
    US20130113897A1|2011-09-25|2013-05-09|Zdenko Kurtovic|Process and arrangement for determining the position of a measuring point in geometrical space|
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