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Method for determining a position and orientation of an object using a profilometer

A technology for determining position and orientation. It is applied to measurement devices, optical devices, and re-radiation of electromagnetic waves. It can solve the problems of output signal scattering, offset, shock and vibration sensitivity, and achieve the effect of simplifying evaluation.

Pending Publication Date: 2019-05-28
FORD GLOBAL TECH LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the sensors required for this purpose are sensitive to shock and vibration
Furthermore, these sensors are frequency dependent causing their output signals to scatter and be offset such that single or double integration produces signal drift
Therefore, especially slow movements can only be captured to a limited extent

Method used

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  • Method for determining a position and orientation of an object using a profilometer
  • Method for determining a position and orientation of an object using a profilometer
  • Method for determining a position and orientation of an object using a profilometer

Examples

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Embodiment Construction

[0032] first reference figure 1 .

[0033] A device 2 for determining the position and orientation of an object O is shown. The object O may be a flat part with eg a gearbox or a traction motor. In the present form of embodiment, the device 2 is designed to capture displacements in the range of + / - 10 mm and rotations in the range of + / - 10°.

[0034] In the present form of embodiment, the device 2 comprises a surface profiler 4 designed for contactless (eg optical) capture of surface topography. For this purpose, the sensor head 8 of the surface profiler 4 is used to sample the measuring volume 6 , which is fixed to the object O in the present form of embodiment. In contrast to the present form of embodiment, the measuring body 6 can also be formed on the object O. As shown in FIG.

[0035] exist figure 1 , the longitudinal or x-axis xs, transverse or y-axis ys and vertical or z-axis zs of the sensor head 8 and the longitudinal or x-axis xt, transverse or y-axis yt and v...

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Abstract

The invention relates to a method of determining position and orientation of an object using a profilometer. A measurement body has a predetermined polyhedral basic form and a defined spatial relationship with the object. The profilometer captures rectilinear coordinates of at least three measurement points lying on a profile line defined by a profilometer scan-line. Using the coordinates and measurement body geometric values, rotations of the measurement body are calculated about a measurement body z-axis, an intermediate y-axis resulting from the z-axis rotation, and about a profilometer-defined x-axis. Next, three translation displacements of the measurement body relative to the three profilometer-defined axes are calculated using the coordinates, the geometric values of the measurementbody, and the above-calculated rotations. The position and an orientation of the object is determined by then applying the defined spatial relationship of the measurement body to the object.

Description

technical field [0001] The invention relates to a method of determining position and orientation. The invention also relates to a computer program product and a device for determining position and orientation, as well as a measuring body. Background technique [0002] Displacements in directions of all three spatial axes and rotations about all three axes of rotation of an object on a test or inspection stand need to be captured. The object may be, for example, a gearbox or traction motor associated with a motor vehicle or other object. [0003] This type of displacement and rotation can be captured by measuring the corresponding linear acceleration and rotational rate and then integrating to determine distance and angle values. However, the sensors required for this purpose are sensitive to shock and vibration. In addition, these sensors are frequency dependent, causing their output signals to scatter and be offset such that single or double integration produces signal d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24
CPCG01B11/005G01B11/26G01S17/89G01S17/06G01C15/006
Inventor 阿恩·海默尔
Owner FORD GLOBAL TECH LLC
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