Correction device

Abstract

The invention relates to a correction device which is suitable for a movable data acquisition device and is used for acquiring geometric data of an object. The device at least comprises a reference geometry which is at least partially arranged within the acquisition range of the data acquisition device, and comprises an evaluation device for correcting the geometric data of the object according to the reference geometry data acquired by the data acquisition device.

Description

Technical Field

[0001] The invention relates to a calibration device for a movable data acquisition device for acquiring geometric data of an object. Background Art

[0002] The movable data acquisition device may include, for example, a scanner mounted on a robotic arm.

[0003] Existing calibration devices are usually only used for one-time calibration of the scanner.

[0004] However, when the data acquisition device is moved, for example due to vibrations of a robot arm and / or the so-called stick-slip effect, interfering data may continue to appear.

[0005] Existing correction devices cannot correct these interference data. Summary of the invention

[0006] Therefore, an object of the present invention is to provide a correction device, a data acquisition device, a system and a method, which can correct interference data caused by the movement of the data acquisition device.

[0007] This object is achieved by the subject matter and the method defined in the independent claims.

[0008] According to the present invention, the calibration device is suitable for (or designed to be) a movable or moving data acquisition device for acquiring geometric data of an object (such as a workpiece to be inspected), and / or can be used for this purpose.

[0009] The data acquisition device may be moved, for example, to acquire at least one large object and / or to acquire at least one object from different sides.

[0010] It is also possible to capture multiple objects simultaneously.

[0011] Preferably, the data can be collected acoustically (e.g., ultrasonic waves) and / or optically (e.g., light waves). For example, at least one ultrasonic sensor, laser, scanner, lidar and / or camera system can be used.

[0012] Data acquisition can be performed in the visible light range and / or in the invisible light range.

[0013] Preferably, the three-dimensional structure of the object can be acquired.

[0014] The correction device has at least one reference geometry for being arranged at least partially within the acquisition range of the data acquisition device.

[0015] The reference geometry is at least partially or completely located within a capture range (eg field of view) of the data acquisition device, so that at least a part of the reference geometry is always captured, preferably together with the object.

[0016] The shape of the reference geometric body is preferably not restricted.

[0017] For example, the reference geometry can be designed as a reference guide.

[0018] The material of the reference geometric body is preferably not limited. For example, it may include or be made of plastic, metal, wood and / or stone (such as granite).

[0019] The reference geometry can be arranged, for example, next to the object or the stage on which the object is placed. For example, the reference geometry can be placed next to the object and / or fixed next to the object. It can also be firmly connected to the stage.

[0020] The correction device includes an evaluation device for correcting the geometric data of the object based on the reference geometric data collected by the data collection device.

[0021] The evaluation device may, for example, comprise or consist of a computing unit such as a computer.

[0022] During operation, the data acquisition device preferably continuously acquires geometric data of the object and geometric data of the reference geometry.

[0023] The evaluation device can preferably evaluate these object data and the reference geometry data. Since the shape of the reference geometry is known, interfering data and / or deviations caused by the movement of the data acquisition device can be detected, compensated and / or subtracted and the object geometry data can be corrected accordingly.

[0024] The above correction is preferably performed during data acquisition, delayed and / or subsequently; the acquired geometric data usually remain corrected at all times.

[0025] Further developments of the invention can be gathered from the dependent claims, the description and the drawings.

[0026] According to one embodiment, the reference geometric body is arranged at a marginal area of ​​the acquisition range, so as not to affect the acquisition of the geometric data of the object.

[0027] Therefore, the geometric data acquisition of the object is not affected by the reference geometry.

[0028] According to another embodiment, the reference geometry is adapted to the shape of the object.

[0029] Preferably, the reference geometry mimics the basic shape of the object.

[0030] For example, for a curved object, the reference geometry can also be the corresponding curved shape.

[0031] The closer the shape of the reference geometry is to the shape of the object, the more accurate the correction will usually be.

[0032] According to another embodiment, the reference geometry may be linear or curved.

[0033] For example, a ring-shaped reference geometry is conceivable.

[0034] According to a further embodiment, at least or exactly two reference geometries are provided.

[0035] Preferably, these reference geometric bodies may be arranged on opposite sides of the object, such as top and bottom or left and right.

[0036] These reference geometries can be designed as identical structures, for example. Alternatively, they can also have different shapes, which can be advantageous when, for example, different sides of an object have different shapes.

[0037] The invention also relates to a data acquisition device for acquiring geometric data of an object and geometric data of a reference geometric body, the device comprising a correction device according to the invention.

[0038] According to one embodiment, the data acquisition device comprises a scanner.

[0039] The scanner is preferably a laser triangulation scanner, but may also be another type of acquisition device (eg acoustic and / or optical).

[0040] The data acquisition device may include an evaluation device, ie the evaluation device may be formed as a part of the data acquisition device.

[0041] For example, the evaluation device may be integrated into a scanner.

[0042] According to a further embodiment, the data acquisition device comprises a drive device, preferably a robot.

[0043] For example, the scanner can be mounted on a robot arm, allowing for highly flexible use.

[0044] In principle, other drives are also conceivable, such as a lifting platform, a rail system and / or a crane.

[0045] The invention also relates to a system comprising the data acquisition device and the object of the invention.

[0046] This object may form part of this system.

[0047] It is also possible to set multiple objects at the same time, such as two, three, four, five or more.

[0048] Finally, the present invention also relates to a method for correcting object geometric data acquired by a mobile data acquisition device using the correction device of the present invention, the data acquisition device of the present invention and / or the system of the present invention.

[0049] In the method, the data acquisition device acquires reference geometric data of at least one reference geometric body.

[0050] The evaluation device then corrects the geometrical data of the object based on these reference geometrical data.

[0051] Since the expected surface data of the reference geometry are known in advance or have been acquired in advance (possibly multiple times), the influence caused by interfering frequencies and / or offsets in the object data can be removed thereby.

[0052] During operation, reference geometry data and object geometry data are preferably continuously acquired, rather than just once for calibration.

[0053] All embodiments and device components described herein are preferably designed so that the methods described in this description can be executed by, for example, a control device. In addition, the various features of these embodiments and methods can be combined with each other in any desired manner, preferably also without regard to the technical background of their specific description. For example, features of one embodiment can be combined with features of another embodiment in any desired manner. Preferably, the number of reference geometries and / or objects, their shape and / or size can vary. In addition, other drive devices can be provided outside the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The present invention is described below in an exemplary manner with reference to the accompanying drawings. In the accompanying drawings:

[0055] Figure 1 is a perspective view of an embodiment of a correction device of the present invention, and

[0056] Figure 2 This is a cross-sectional view of the collected surface profile. DETAILED DESCRIPTION

[0057] First of all, it should be pointed out that the embodiments shown are only examples. Certain features can be used in combination not only as shown, but also individually or in any technically reasonable combination. For example, features of one embodiment can be used in combination with features of another embodiment. Preferably, the number of reference geometric bodies or objects and / or their shape and size can vary. In addition, alternative drive devices can also be used instead of robots.

[0058] If a reference number in a figure is not described in the corresponding description, please refer to the relevant description before or after the figure. For the same or similar parts, the same reference number is used in the figures and no further description is given.

[0059] Figure 1 A calibration device for a mobile data acquisition device 10 for acquiring geometric data of an object 12 is shown.

[0060] The data acquisition device 10 has a drive device as a robot 14 and a scanner 16 mounted on the robot 14, such as a laser triangulation scanner.

[0061] The calibration device comprises two reference geometric bodies 18 located within the acquisition range 20 of the data acquisition device 10 .

[0062] The two reference geometric bodies 18 are disposed on opposite sides of the object 12 and each has a certain shape in space.

[0063] Furthermore, the correction device comprises an evaluation device 22 for correcting the geometric data of the object based on the geometric data of the reference geometric body 18 acquired by the data acquisition device 10 .

[0064] Figure 2 , a sectional view of a detected surface contour of an object 12 is shown, with a reference geometry 18 on the left and right.

[0065] Reference numerals list

[0066] 10 Data Acquisition Device

[0067] 12 Objects

[0068] 14Robot, drive device

[0069] 16 Scanner

[0070] 18 Reference geometry

[0071] 20 Collection range

[0072] 22 Assessment device

Claims

1. A correction device for a movable data acquisition device (10) to acquire geometric data of an object (12), characterized in that: The correction device comprises: at least one reference geometric body (18) for being arranged at least partially within a collection range (20) of a data collection device (10); and An evaluation device (22) corrects the geometric data of the object (12) based on the reference geometric data of the reference geometric body (18) collected by the data collection device (10).

2. The calibration device according to claim 1, characterized in that: The reference geometry (18) is arranged in the edge region of the acquisition range (20).

3. The calibration device according to claim 1 or 2, characterized in that: The reference geometry (18) is adjusted according to the shape of the object (12).

4. A calibration device according to any one of the preceding claims, characterized in that The reference geometric body (18) is linear or curved.

5. The calibration device according to any one of the preceding claims, characterized in that At least or exactly two reference geometries (18) are provided, preferably located on opposite sides of the object (12).

6. A data acquisition device for acquiring geometric data of an object (12) and geometric data of a reference geometric body (18), comprising a correction device according to any of the preceding claims.

7. The data acquisition device according to claim 6, characterized in that: The data acquisition device (10) comprises a scanner (16), preferably a laser triangulation scanner.

8. The data acquisition device according to claim 6 or 7, characterized in that: The data acquisition device (10) comprises a driving device (14), which is preferably a robot.

9. A system comprising a data acquisition device (10) according to any one of claims 6 to 8 and an object (12).

10. A method for correcting geometric data of an object (12) acquired by a mobile data acquisition device (10), the method utilizing a correction device according to any one of claims 1 to 5, a data acquisition device (10) according to any one of claims 6 to 8 and / or a system according to claim 9, characterized in that: The data acquisition device (10) acquires reference geometric data of at least one reference geometric body (18); and The evaluation device (22) corrects the geometric data of the object (12) according to the reference geometric data.

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