System and method for collecting data and information of surface properties of an object
阅读说明:本技术 用于采集物体表面特性的数据和信息的系统和方法 (System and method for collecting data and information of surface properties of an object ) 是由 K·C·刘 G·李 于 2018-10-29 设计创作,主要内容包括:提供一种用于收集物体表面特性的信息和数据的系统,该系统包括投影仪、工作台、第一照相机和第二照相机。投影仪悬挂在工作台的上方,并布置成将光学指示符的随机图案投影到工作台上。光学指示符可以是点、线或其他此类指示符。工作台布置成固定待检查的物体。第一照相机定位在工作台的上方且定位至工作台的一侧,并与工作台成一定角度。第二照相机定位在工作台的上方定位至工作台的相对的一侧,并与工作台成一定角度。第一照相机和第二照相机布置成捕捉投影到物体上的光学指示符的图像。该系统进一步布置成从捕捉的图像中采集信息和数据,并从所采集的信息和数据中确定物体表面特性。(A system for collecting information and data on surface properties of an object is provided that includes a projector, a stage, a first camera, and a second camera. A projector is suspended above the table and is arranged to project a random pattern of optical indicators onto the table. The optical indicator may be a dot, line or other such indicator. The table is arranged to hold an object to be inspected. The first camera is positioned above and to one side of the table and at an angle to the table. The second camera is positioned above the table to an opposite side of the table and at an angle to the table. The first camera and the second camera are arranged to capture images of the optical indicator projected onto the object. The system is further arranged to collect information and data from the captured image and to determine object surface characteristics from the collected information and data.)
1. A system for collecting information and data on a surface property of an object, the system comprising:
a table arranged to support an object;
a projector suspended above the table and arranged to project a pattern of optical indicators towards the table;
a first camera positioned above and to one side of the table and at an angle to the table and arranged to capture an optical indicator projected onto an object; and
a second camera positioned above and to an opposite side of the table and at an angle to the table and arranged to capture an optical indicator projected onto the object;
wherein the system is further arranged to collect information and data from the captured image and to determine the object surface characteristics from the collected information and data.
2. The system of claim 1, wherein the optical indicators are randomly distributed dots.
3. The system of claim 1, wherein the optical indicator is a first series of parallel lines.
4. The system of claim 3, wherein the optical indicator is further a second series of parallel lines perpendicular to the first series of parallel lines.
5. A system for collecting information and data on a surface property of an object, the system comprising:
a table arranged to support an object;
a projector suspended above the table and arranged to project a pattern of optical indicators towards the table in a field of projection;
an optical wedge positioned in the field of projection proximate the projector and arranged to rotate periodically about an axis of the field of projection;
a first camera positioned above and to one side of the table and at an angle to the table and arranged to capture an image of an optical indicator projected onto the object as the optical wedge rotates; and
a second camera positioned above and to an opposite side of the table and at an angle to the table and arranged to capture an image of the optical indicator projected onto the object as the optical wedge rotates;
wherein the system is further arranged to collect information and data from the captured image and to determine the object surface characteristics from the collected information and data.
6. The system of claim 5, wherein the optical indicators are randomly distributed dots.
7. The system of claim 5, wherein the optical indicator is a first series of parallel lines.
8. The system of claim 7, wherein the optical indicator is further a second series of parallel lines perpendicular to the first series of parallel lines.
Technical Field
The present disclosure relates generally to systems and methods for collecting information and data to calculate surface contours, edges, and features of objects. More particularly, the present disclosure relates to systems and methods for projecting optical indicators onto the surface of an object and detecting such optical indicators from two or more viewpoints to calculate surface contours, edges, and features of the object.
Background
In many applications, it is useful to accurately determine the surface characteristics of an object. Such surface characteristics include the contours of the surface, the edges of the surface, and features of the surface (e.g., holes, grooves), among others. With respect to the profile of a surface, the term refers to the shape of the surface, including curves, changes in height, sharp transitions, and the like. For features such as holes and grooves, determining such features includes determining the location of the features on the surface as well as the size of the features. In many commercial activities (e.g., manufacturing various types of components and assemblies, assembling components into systems, inspecting the quality of components and systems, etc.), it is useful, or even crucial, to accurately determine such surface characteristics. Determination of surface properties is also important in industrial research and development, product development and academic research.
In many manufacturing applications, the ability to reproducibly manufacture complex parts is critical to the manufacture and assembly of quality products. When parts have complex surfaces, it is important to ensure that these surfaces are manufactured to specification. For example, when dimensional tolerances are small, even minor deviations from specification can result in mismatched or unsuitable components during assembly of the product. This assurance is typically achieved by post-manufacturing inspection of the components and assemblies. Typically, the surface characteristics of the part are evaluated by visual inspection by a quality control person. This visual inspection may be accomplished by simply visually comparing the surface of the part to the template, or by physically contacting the template to the surface of the part. The quality control personnel can then evaluate how well the surface of the part matches the template and make a determination as to the quality of the part. In another approach, quality control personnel may use measurement equipment to directly measure certain dimensions, features, and contours to assess the quality of a part.
It will be appreciated that typical visual and manual inspection techniques employed by quality control personnel can be time consuming and lead to inconsistent results. There is a need for improvements in the art to provide systems and methods for collecting information and data to accurately and precisely calculate surface contours, edges, and features of objects.
Disclosure of Invention
In one embodiment, a system for collecting information and data on a surface characteristic of an object comprises: a projector, a surface (e.g., a table) supporting an object under examination, a first camera, and a second camera. A projector is suspended above the table and arranged to project a pattern of random optical indicators onto the table. The optical indicator may be a dot, a line, a combination of both, or any such indicator. The first camera is positioned above and to one side of the table and at an angle to the table. The second camera is positioned above and on an opposite side of the table and at an angle to the table. The first camera and the second camera are arranged to capture images of the optical indicator projected onto the object. The system is further arranged to collect information and data from the captured image and to determine object surface characteristics from the collected information and data.
In another embodiment, a system for collecting information and data on a surface characteristic of an object comprises: a projector, an optical wedge, a surface (e.g., a stage) supporting an object under inspection, a first camera, and a second camera. A projector is suspended above the table and arranged to project a pattern of random optical indicators onto the table. Within the field of projection, an optical wedge is positioned near the projector. The wedge is arranged to refract the pattern projected from the projector and is further arranged to rotate periodically about the axis of the field of projection. The first camera is positioned above and to one side of the table and at an angle to the table. The second camera is positioned above and on an opposite side of the table and at an angle to the table. The first camera and the second camera are arranged to capture images of the optical indicator projected onto the object as the optical wedge is rotated. The system is further arranged to collect information and data from the captured image and to determine object surface characteristics from the collected information and data.
Drawings
In the accompanying drawings, structures of exemplary embodiments of the disclosed systems, methods and apparatus are shown which are described in connection with the detailed description provided below. Identical elements are denoted by the same or similar reference numerals, where appropriate. Elements shown as a single component may be substituted for multiple components. Elements shown as multiple components may be replaced by a single component. The drawings may not be to scale. The scale of certain elements may be exaggerated for illustrative purposes.
Fig. 1 schematically illustrates a perspective view of an exemplary system for acquiring information and data of a surface characteristic of an object using a generally circular optical indicator.
Fig. 2 schematically shows a top view of the system of fig. 1.
FIG. 3 schematically illustrates a perspective view of another exemplary system for acquiring information and data of a surface characteristic of an object using substantially parallel linear optical indicators.
Fig. 4 schematically illustrates a perspective view of yet another example system for acquiring information and data of a surface characteristic of an object using a first set of substantially parallel linear optical indicators and a second set of substantially parallel linear optical indicators substantially perpendicular to the first set of linear optical indicators.
FIG. 5 schematically illustrates an optical wedge positioned near a projector for use with the system disclosed herein.
Fig. 6 schematically shows a perspective view of another exemplary system for acquiring information and data on properties of a surface of an object, in particular for determining the depth of a hole in the surface of the object.
Fig. 7 schematically illustrates a front view of a camera for use with the system disclosed herein.
Detailed Description
The apparatus, systems, arrangements and methods disclosed herein are described in detail by way of example and with reference to the accompanying drawings. It is to be understood that the disclosed and described examples, arrangements, configurations, components, elements, instruments, methods, materials, etc., are capable of modifications and may be desirable for particular applications. In this disclosure, any identification of particular techniques, arrangements, methods, etc., is related to or is merely a general description of such techniques, arrangements, methods, etc., presented. The identification of specific details or examples is not intended, and should not be construed, as mandatory or limiting unless explicitly specified otherwise. Selected examples of instruments, arrangements and methods for accurately acquiring information and data of surface properties of an object will be disclosed and described in detail below with reference to fig. 1-7.
Fig. 1 schematically illustrates a perspective view of a
As shown in fig. 1, the surface of the
When projecting the random series of
Once the
Although the method of determining surface characteristics described herein relies primarily on the projection of random optical indicators onto the object to be inspected, such a method may use additional data and information. For example, due to the arrangement of the
By combining the list of known factors with the shape and position of each point appearing on the first and second images, the object surface characteristics can be determined. In one example, if the first and second images capture only a portion of a point, the point may be determined to span an edge of an object of the
In one embodiment, the projector is arranged to project approximately 40,000 points onto the work area of the table. In this embodiment, the stage is approximately 450 mm X450 mm. In another embodiment, the projector may project a plurality of high intensity spots randomly or systematically spread over a plurality of spots. Such high intensity points may be easily identified in the captured image and may be used to direct multiple points on the images captured by the first and second cameras. In another embodiment, the projector is located between about 0.4 meters and about 0.5 meters from the stage. At such distances, the diameter of the projected spot is about 300 microns.
In another embodiment, the projector may be fixed at the end of the robot arm and may be moved relative to the object while projecting the point onto the object. Such an arrangement may increase the surface area of the object under inspection and may collect information and data on the sides of the object as well as on the top of the object. Such an arrangement may further be used to fix multiple images of any surface of an object, and thus, information and data on that surface may be increased, so that the accuracy of determining the size and contour of the object may be further improved. Other known factors that may be incorporated into the analysis, as described herein, are the position and angle of the projector on the robotic arm, and how the position and angle change as the robotic arm moves to change the projection of the optical indicator on the object. In another embodiment, the projector may first project a template of the contour of the object to be analyzed. The object may be placed on the template to ensure that it is placed on the table in an optimal manner during the acquisition of information and data.
Fig. 3 schematically illustrates a perspective view of another
Fig. 4 schematically illustrates a perspective view of another system 260 for acquiring information and data on surface characteristics of the
FIG. 5 shows another embodiment in which a rotating wedge optic 300 is positioned between
In one embodiment, wedge 300 is rotated in increments of approximately 2 degrees. Wedge optic 300 may rotate for about 100 milliseconds and the first camera and second camera capture images for each rotation in about one second. In such an arrangement, typically five sets of captured images are sufficient to accurately and precisely determine the object surface characteristics. Thus, the process of determining the surface characteristics is efficient.
Fig. 6 schematically shows a perspective view of another system 400 for acquiring information and data of surface properties of an object 410, and in particular the position and size of a hole 420 including the depth of the hole 420. The system 400 includes a table 30, a
Fig. 7 schematically shows an embodiment of a
The foregoing description of the examples has been presented for purposes of illustration and description. It is not intended to be exhaustive or limited to the forms described. Many modifications are possible in light of the above teaching. Some of which have been discussed and others will be understood by those skilled in the art. The examples were chosen and described in order to best explain the principles of various examples as suitable for the particular use contemplated. Of course, the scope is not limited to the examples described herein, but may be used by one of ordinary skill in the art in any number of applications and equivalent devices.
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