Acquisition setup for capturing three-dimensional structures

Abstract

A detection arrangement (1) for the detection of three-dimensional structures in an environment (2), comprising at least one detection device (3) designed for the detection of spatial points in the environment (2), comprising a detection adapter (6) designed for coupling with at least one nozzle (5), in particular a paint nozzle, of a device (4) arranged in the environment (2), wherein the detection device (3) is designed to detect at least one detection structure (7, 7') of the detection adapter (6) in a state coupled with the nozzle (5).

Description

[0001] The invention relates to a detection arrangement for the detection of three-dimensional structures in an environment, comprising at least one detection device designed for the detection of spatial points in the environment.

[0002] Acquisition systems for capturing three-dimensional structures in environments, which include a capture device by means of which spatial points in the environment can be captured, are generally known from the prior art. For example, total stations or 3D scanners are used to survey various environments, in particular production facilities, factory halls, and the like.

[0003] It is further known that relatively small structures in the environment must also be detected, especially nozzles, which, however, cannot usually be detected automatically due to their size. In the prior art, such structures are determined manually from the acquired data after the spatial points have been recorded by the detection system. However, it is possible that no spatial point was recorded at the exact location of the structure, for example, the nozzle. Therefore, it is difficult to determine the position of such a structure and its orientation from the acquired data. Since orientation is a crucial property of nozzles, especially when detecting them, it can only be added manually, if at all, after the automated environmental scan, a time-consuming process.

[0004] The invention is based on the objective of providing an improved detection arrangement for the detection of three-dimensional structures, with which nozzles in the environment can be detected in a more effective manner.

[0005] The problem is solved by a detection arrangement according to claim 1. The dependent claims relate to possible embodiments.

[0006] As described, the invention relates to a detection arrangement for capturing three-dimensional structures in an environment. The detection arrangement comprises at least one detection device, for example, a total station or a 3D scanner. The 3D scanner, or more generally the detection device, can also be coupled with an autonomously moving motion unit and thus be moved autonomously through the environment. The detection device is designed to detect spatial points in the environment. This means that individual spatial points, for example, sections of a structure, can be detected by means of the detection device and their position within the environment can be determined.

[0007] The invention is based on the finding that the detection arrangement includes a detection adapter designed for coupling with at least one nozzle, in particular a paint nozzle, of a device arranged in the vicinity, wherein the detection device is designed to detect at least one detection structure of the detection adapter in a state coupled with the nozzle. The invention thus proposes using a detection adapter of the detection arrangement, which is coupled to the nozzle for detection purposes, instead of directly detecting the nozzle. The detection adapter provides at least one detection structure that can be detected more effectively by the detection device. This means that the detection adapter is specifically coupled to the nozzle for improved, automated detection of the nozzle, thus eliminating the need for subsequent post-processing.

[0008] In a further development of the detection arrangement, the detection device can be configured to determine the nozzle's position based on at least one detected detection structure. As described earlier, coupling the detection adapter to the nozzle improves the detection of the nozzle by the detection device. The detection adapter can be adapted to the nozzle in such a way that the nozzle's position can be determined when the detection structure is detected. A so-called "base point" can be defined as the nozzle's position. The detected point or position of the detection structure, for example, a reference point or center point, can be defined at a specific distance from this base point when the detection adapter is coupled to the nozzle, thus enabling automated determination of the base point and therefore the nozzle's position.

[0009] Furthermore, the detection arrangement may include a nozzle receptacle on the detection adapter, positioned at a defined distance and with a defined orientation relative to the detection structure. This nozzle receptacle couples the detection adapter to the nozzle, thus defining the positioning and orientation of the detection adapter relative to the nozzle receptacle. For example, the detection adapter may have an insertion or mounting section that allows the detection adapter with the nozzle receptacle to be inserted into or attached to the nozzle.

[0010] Since, in the assembled state, the nozzle mount is precisely spaced and oriented relative to the detection structure, the position and, if necessary, the orientation of the nozzle can be determined by capturing the detection structure. This virtually enlarges the area of ​​the nozzle for detection purposes, as it is no longer just the nozzle itself that needs to be captured, but the significantly larger and more easily detectable detection structure. Furthermore, the baseline is also enlarged, since the nozzle's orientation no longer needs to be determined from an image of the nozzle, but can be determined based on the detection structure and its orientation, particularly relative to the base point.

[0011] Knowing the previously described distance between the sensing structure and the nozzle receptacle, it is possible to determine the nozzle's base point based on this distance. In other words, the sensing device determines the position of the sensing structure, for example, a sphere. Knowing the orientation of the sensing structure and the distance between the reference point of the sensing structure (as detected by the sensing device) and the nozzle's base point, the nozzle's base point can be determined based on the detected sensing structure.

[0012] In a further development of the detection arrangement, the detection adapter may comprise at least two detection structures connected to each other by a connecting element, wherein the detection device is configured to determine an orientation vector of the nozzle based on an arrangement of the two detection structures. In other words, the detection adapter is coupled to the nozzle, in particular to the nozzle receptacle described above. The at least two detection structures are coupled to the nozzle receptacle and connected to each other by means of the connecting element. The detection device can thus detect the two detection structures, for example, by determining their positions.The orientation of the sensing adapter can be determined from the relative positions of the sensing structures. Furthermore, the orientation of the nozzle can be determined by coupling the sensing adapter to the nozzle, for example, by plugging it in or attaching it. This results in the nozzle's orientation vector. The distances between the two sensing structures can also be defined, or at least a distance between one of the sensing structures and the sensing adapter, or relative to the nozzle's base point, can be defined. The orientation vector can be derived, for example, from the line connecting the sensing positions of the sensing structures, such as their centers.

[0013] In principle, any structure that can be advantageously detected by the detection device can be understood as a detection structure. In one embodiment, the at least one detection structure can be configured as a laser target, in particular as a prism, sphere, or prism reference sphere. As described, the targeted coupling of the detection structure with the nozzle ensures that, advantageously, the detection structure, rather than the nozzle itself, can be detected. The at least one detection structure can, in particular, be made of a material that reacts in a defined manner to laser beams, for example, with respect to the reflection of laser beams, i.e., that the surface of the detection structure reflects laser radiation in a defined manner. The detection structures can thus be understood as laser targets.Advantageously, the center point of the detection structures can be determined very precisely, for example by using a prism reference sphere. If a sphere is used as the detection structure, it is advantageously designed with a known diameter.

[0014] In a further embodiment of the detection arrangement, the detection adapter, at least in part, and in particular the nozzle receptacle of the detection adapter, can be additively manufactured. This allows, in particular, the detection adapter, and specifically its nozzle receptacle, to be manufactured according to the geometry of the nozzle to which the detection adapter is to be coupled. The detection adapter can thus be manufactured using a 3D printing process or, more generally, additively. The detection adapter can comprise at least one insertion section and / or a mounting section that can be inserted into or mounted onto the nozzle as a nozzle receptacle or part thereof. For example, the nozzle receptacle can include a counterpart that matches the geometric shape of the nozzle.

[0015] The detection arrangement described herein makes it fundamentally possible to detect a large number of nozzles of any type. In one embodiment, the nozzle can be designed as a flow nozzle, powder nozzle, or paint nozzle. For example, if the environment to be detected is a paint shop, and specific points within it are to be determined or detected, individual paint nozzles can be coupled to the detection adapter to improve detection. It is possible to use multiple detection adapters simultaneously for the simultaneous detection of several paint nozzles, or these nozzles can be coupled to the detection adapter individually and detected separately.

[0016] In addition to the detection arrangement, the invention relates to a detection adapter for detecting three-dimensional structures in an environment, wherein the detection adapter is configured for coupling with at least one nozzle, in particular a paint nozzle, of a device arranged in the environment, and wherein at least one detection structure of the detection adapter can be detected in a state coupled with the nozzle by means of a detection device. Furthermore, the invention relates to a method for detecting three-dimensional structures in an environment, wherein spatial points in the environment are detected by means of at least one detection device, wherein a detection adapter is coupled with at least one nozzle, in particular a paint nozzle, of a device arranged in the environment, and at least one detection structure of the detection adapter is detected in a state coupled with the nozzle by means of the detection device.

[0017] The acquisition adapter can be used, in particular, for or within a previously described acquisition setup. The method can be carried out with the previously described acquisition setup, especially using the acquisition adapter.

[0018] All advantages, details, designs and / or features described in relation to the acquisition setup are fully transferable to the acquisition adapter and the procedure.

[0019] The invention is explained with reference to exemplary embodiments and the figures. The figures are schematic representations and show: Fig. 1. A schematic representation of a detection arrangement according to an exemplary embodiment; and Fig. 2 A schematic representation of a detection adapter according to an exemplary embodiment.

[0020] Fig. Figure 1 shows a data acquisition setup 1 for capturing three-dimensional structures in an environment 2. The data acquisition setup 1 includes a data acquisition device 3. The data acquisition device 3 is designed to capture spatial points in the environment 2. For illustrative purposes, the data acquisition device 3 can be mobile, for example, as an autonomously moving unit. The data acquisition device 3 can be configured as a total station or as a 3D scanner. In other words, structural points in the environment 2 can be captured with the data acquisition device 3, for example, to create a three-dimensional model or map of the environment 2.

[0021] In environment 2, a device 4 is arranged, which has a nozzle 5, specifically a paint nozzle. The device 4 can, for example, be configured as a painting device. To improve the detection of the nozzle 5, it is coupled to a detection adapter 6 of the detection arrangement 1. The detection adapter 6 has a detection structure 7, which can, for example, be configured as a sphere, prism, or prism reference sphere. The detection structure 7 improves the detection by the detection device 3, as it increases the area to be detected compared to the nozzle 5. Furthermore, the detection structure 7 can have a standardized or predefined shape, for example, a predetermined diameter, and a predetermined surface.

[0022] In other words, the sensing adapter 6 is coupled to the nozzle 5 in such a way that the sensing structure 7 can be detected by the sensing device 3. The sensing adapter 6 allows the position of the nozzle 5 to be detected. For example, the sensing structure 7 is positioned at a defined distance from the nozzle 5 in its mounted state, for example, from a base point of the nozzle 5. The base point of the nozzle can be any point on the nozzle, for example, the center of the nozzle 5 opening. Knowing the distance between the sensing structure 7 and, for example, a nozzle receptacle 8 of the sensing adapter 6, the sensing device 3 can determine the position or base point of the nozzle 5 when it detects the position of the sensing structure 7.

[0023] Fig. Figure 2 shows another embodiment of a detection adapter 6, which is used, for example, in the situation described in Fig. The preceding description is therefore also fully applicable to [reference to relevant section]. Fig. 2 - and vice versa - transferable. The acquisition adapter 6, which is in Fig.Figure 2 shows two detection structures 7 and 7'. If the detection adapter 6 is coupled to the nozzle 5 via the nozzle receptacle 8, both the position of the nozzle 5 and its orientation in space can be determined by the detection adapter 6 or by the detection device 3 detecting the detection adapter 6. The detection structures 7 and 7' are connected to each other by means of a connecting element 9. This means that the positions of the detection structures 7 and 7' can be detected by the detection device 3, for example, their centers, and thereby an orientation vector of the nozzle 5 can be determined, for example, by a connecting line between the detected positions of the detection structures 7 and 7', specifically a straight line passing through their centers.

[0024] It is therefore possible, firstly, to determine the base point of the nozzle 5 by knowing the distance of one of the detection structures 7, 7', for example, the distance between the detection structure 7 closest to the nozzle receptacle 8 and the nozzle receptacle, or the distances between both detection structures 7, 7'. Simultaneously, by knowing or detecting the positions of the detection structures 7, 7' and their connection via the connecting element 9, it is possible to determine how the nozzle 5 is oriented in the environment 2, i.e., that the orientation vector can also be determined.

[0025] As described, the detection structures 7, 7' can be configured as a laser target, specifically as a prism, a sphere, or a prism reference sphere. The surface of the detection structure 7, 7' can be specifically designed for the type of detection by which the detection device 3 detects the detection structures 7, 7', for example, if the detection device 3 is configured as a total station or a 3D scanner, or if the detection direction 3 includes a total station or a 3D scanner. For example, the detection structures 7, 7' can be designed to reflect the radiation used. It is also possible to use a surface structure with a high contrast ratio.

[0026] In principle, the nozzle holder 8 can be coupled to the nozzle 5 in any way. For example, the nozzle holder 8 can include a plug-in section that can be attached to the nozzle 5. Alternatively or additionally, the nozzle holder 8 can have an insertion section that can be inserted into at least one opening of the nozzle 5 for coupling the detection adapter 6 to the nozzle 5. After detection of the detection adapter 6 or its detection structures 7, 7', the detection adapter 6 can be detached from the nozzle 5 again.

[0027] The sensing adapter 6, specifically the nozzle holder 8 of the sensing adapter 6, can be additively manufactured. This offers the advantage that the nozzle holder 8 can be specifically adapted to the nozzle 5, enabling a positive-locking connection. In principle, the sensing adapter 6, and especially the nozzle holder 8, can be made of any material, for example, plastic or metal. The connection between the nozzle holder 8 and the sensing structure 7, or the connection between the sensing structures 7, 7' and the connecting element 9, can be detachable or interchangeable. Specifically, different sensing structures 7, 7' can be used or exchanged and replaced with other sensing structures 7, 7', and coupled to the nozzle holder 8.

[0028] The detection arrangement 1 can have more than one detection device 3, in particular a plurality of detection devices 3. For detecting the position and / or orientation of the nozzle 5 or several nozzles 5 arranged in the vicinity 2, a detection adapter 6 can be successively placed on or coupled to different nozzles 5 in order to be detected.

[0029] Alternatively, the detection arrangement 1 can also have a large number of detection adapters 6 that can be coupled to several nozzles 5 simultaneously in order to detect them at the same time.

[0030] As already described, the nozzle 5 can be of any design. Specifically, the nozzle can be configured as a flow nozzle, a powder nozzle, or a paint nozzle. The environment 2 can, for example, be a paint shop of a production plant, particularly for the manufacture of motor vehicles. This means that the detection arrangement 1 can also be configured to detect spatial points in a paint shop of a motor vehicle manufacturing plant. The detection arrangement 1 is specifically designed to automatically detect the detection structures 7, 7' of the detection adapter 6 and to determine the base point and / or the orientation vector of the nozzle 5.

[0031] The preceding description of the acquisition arrangement 1, in relation to the exemplary embodiments, is fully transferable to the acquisition adapter 6. Furthermore, the method described herein for acquiring three-dimensional structures can be carried out with the acquisition adapter 6 or the acquisition arrangement 1 described herein. The description is therefore fully transferable to the acquisition adapter 6 and the method.

[0032] The advantages, details and features shown in the individual embodiments can be combined, interchanged and transferred to one another as desired. REFERENCE MARK LIST 1. Recording arrangement 2 Environment 3 Detection device 4 Device 5 nozzle 6 acquisition adapters 7, 7' Capture structure 8 nozzle holder 9 Connecting element

Claims

[1] Detection arrangement (1) for the detection of three-dimensional structures in an environment (2), comprising at least one detection device (3) designed for the detection of spatial points in the environment (2), characterized by a detection adapter (6) which is designed for coupling with at least one nozzle (5), in particular a paint nozzle, of a device (4) arranged in the vicinity (2), wherein the detection device (3) is designed to detect at least one detection structure (7, 7') of the detection adapter (6) in a state coupled with the nozzle (5). [2] Recording arrangement (1) according to claim 1, characterized by , that the detection device (3) is designed to detect a position of the nozzle (5) based on the at least one detected detection structure (7, 7'). [3] Recording arrangement (1) according to claim 1 or 2, characterized by, that the detection adapter (6) has a nozzle receptacle (8) which is arranged at a defined distance and with a defined orientation to the detection structure (7, 7'). [4] Recording arrangement (1) according to claim 3, characterized by , that the detection device (3) is designed to determine a base point of the nozzle (5) based on the specified distance. [5] Recording arrangement (1) according to any of the preceding claims, characterized by , that the detection adapter (6) comprises at least two detection structures (7, 7') which are connected to each other by a connecting element (9), wherein the detection device (3) is configured to determine an orientation vector of the nozzle (5) based on an arrangement of the two detection structures (7, 7'). [6] Recording arrangement (1) according to any of the preceding claims, characterized by, that at least one detection structure (7, 7') is designed as a laser target, in particular as a prism or sphere or prism reference sphere. [7] Recording arrangement (1) according to any of the preceding claims, characterized by , that the detection adapter (6) is additively manufactured at least in sections, in particular a nozzle receptacle (8) of the detection adapter (6). [8] Recording arrangement (1) according to any of the preceding claims, characterized by that the nozzle (5) is designed as a flow nozzle or powder nozzle or paint nozzle. [9] Acquisition adapter (6) for the acquisition of three-dimensional structures in an environment (2), characterized by, that the detection adapter (6) is designed for coupling with at least one nozzle (5), in particular a paint nozzle, of a device (4) arranged in the vicinity (2), wherein at least one detection structure (7, 7') of the detection adapter (6) can be detected in a state coupled with the nozzle (5) by means of a detection device (3). [10] Method for detecting three-dimensional structures in an environment (2), wherein spatial points in the environment (2) are detected by means of at least one detection device (3), characterized by , that a detection adapter (6) is coupled with at least one nozzle (5), in particular a paint nozzle, a device (4) arranged in the vicinity (2), and at least one detection structure (7, 7') of the detection adapter (6) is detected in a state coupled with the nozzle (5) by means of the detection device (3).

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