Digital marking process in a hybrid environment

Abstract

A method for marking a hybrid model of an object implemented by a marking system (1, 2), said hybrid model comprising at least a physical model (4) of the object in a physical environment and a digital model (5) of the object, the method comprising the following steps: - collecting (340) positioning data of a physical point of interest of the physical model (4) in a first predefined (X, Y, Z) three-dimensional coordinate system, - identifying (360), in real time, a position of a virtual point of interest on the digital model (5) in a second predefined (x, y, z) coordinate system, said virtual point of interest being associated with the physical point of interest and said position being obtained from the collected positioning data, - generating (370) a digital marking associated with said position on the digital model (5) of the object. Abstract figure: Figure 1

Description

Title of the invention: Method for digital marking in a hybrid environment Technical field

[0001] The present disclosure relates to the field of modeling for design and industrial design and more specifically to a digital marking device synchronized with a real environment. Prior art

[0002] The conception and precision industrial design of a product are crucial steps in many sectors such as automotive, household appliances or even luxury. During product development, many actors interact, manipulate and intervene on several models of the product, ranging from two-dimensional (2D) or three-dimensional (3D) software models to prototypes via mock-ups or 3D printing. These actors can be industrial designers, engineers, industrial draftsmen, operators, mechanics, etc. and such a diversity of actors can intervene on different aspects, via different tools and at different stages of the product development chain.

[0003] In particular, a project to develop an object, for example a car, requires technical means to ensure consistency of work on both physical (e.g., models) and digital (e.g., software modeling) models. For example, an industrial designer works mainly on digital models of an object in order to optimize the design and / or correct design defects, while a production operator works on real prototypes of the object in order to identify defects or carry out reliability tests. There is therefore a need to use physical and digital models jointly and synchronised, by distinct actors in the design chain, in order to arrive at the design of a product.In the same way, collaborators from the same profession (for example, in the field of design and conception, such as designers or 3D modelers) may seek to intervene on physical and digital models in a joint and synchronized manner. In addition, actors working on the development of the product may seek to observe, highlight or draw attention to certain details of the conception and design of the object. To do this, in the automotive field for example, it is known to carry out a physical marking on a prototype of the object (with pads attached to the prototype for example) and to collect shots from different angles of such marking. These shots must then be transposed into the bare models. of the object, so that other actors can intervene in the development chain of the object from its digital modeling. This is all the more important since the teams can be distant from each other and the physical models are difficult to move.

[0004] However, these processes have limitations, particularly in terms of precision and efficiency. Indeed, first of all, the physical marking can be erroneous if the pad is not precisely stuck in the desired location or is moved. Furthermore, the digital modeling that follows depends on the quality and angles of the shots of the physical model, which can be imprecise or approximate. Finally, such digital modeling is “frozen” in that it is associated with shots of the object. Traceability, monitoring and simultaneous intervention of different actors on the development of the product are complicated by such a “gap” between the real environment and the digital environment.

[0005] Many digital modeling software programs exist. However, these do not allow synchronized interaction, especially at the required precision scale (e.g., of the order of centimeters or even millimeters) in many sectors, between real and virtual models of the object. These sectors and their stakeholders, however, require working together, particularly in real time, in hybrid environments, namely physical and digital. While the neighboring field of virtual reality is full of solutions for remote operators to share a common virtual environment, said operators remain unable to share their respective real environments.

[0006] There is therefore a technical and practical need to enable simplified, synchronized and high-precision interventions (e.g., marking or pastillage) on hybrid models of the same object, both in a real environment and in a digital environment. There is also a need for technical means enabling traceability and real-time interaction of such interventions, whether they are carried out in one environment or another. Summary

[0007] The present disclosure improves the situation.

[0008] A method for marking a hybrid model of an object implemented by a marking system is proposed, said hybrid model comprising at least one physical model of the object in a physical environment and a digital model of the object, the method comprising the following steps:

[0009] - collect positioning data of a physical point of interest of the model physical in a first predefined reference frame of three-dimensional coordinates,

[0010] - based on the collected positioning data, identify, in real time, a position of a virtual point of interest on the digital model in a second reference frame predefined, said virtual point of interest being associated with the physical point of interest and said position being obtained from the collected positioning data,

[0011] - generate a digital marking associated with said position on the digital model of the object.

[0012] Consequently, the proposed method allows a synchronized update of a physical model, typically a physical model or a prototype of a product, and a digital model, typically a 3D model or model. For example, interventions on a physical prototype can make it possible to identify design defects in the product and the proposed method then makes it possible to report such interventions on the digital model, leading to obtaining an up-to-date digital model integrating a correction of the defects identified on the physical model and which can be used for milling and / or mass production of the product.

[0013] The method then makes it possible to optimize the efficiency of a process of conception and industrial design of a product, involving concurrent work on a physical model and a digital model of the product. Indeed, the method firstly allows a saving of time, in that the information collected from the physical model (typically, positioning data of a physical point of interest) is directly generated, in real time, on the digital model (via a digital marking associated with such a physical point of interest). The proposed method advantageously makes it possible to avoid any loss of information or delay in transposing information between the physical and digital models.

[0014] Furthermore, the proposed method advantageously makes it possible to resolve problems of traceability of the formatting phases of an industrial product development project, in particular in that an intervention on the physical model can be, in real time, transposed and updated on the digital model. Such an update of the digital model can be accompanied by metadata not directly visible on the model but useful and accessible to other systems such as those dedicated to project management (dates, identification of stakeholders, etc.).

[0015] Furthermore, the proposed method advantageously makes it possible to optimize the efficiency of a design and industrial design process for a product involving collaborative management of the process by a plurality of actors working on the same product, potentially remotely, by overcoming the difficulty linked to the location of the physical model. All of the information carried on a physical model can in fact be synchronized and therefore transcribed onto the digital model.

[0016] A hybrid model of a product refers to a modeling or representation of the product including models of different natures. In particular, such modeling may include a real modeling of the product via a physical model (e.g., a mockup) and a digital or numerical modeling of the product. (eg, a 3D digital model).

[0017] By positioning data, reference is made to data making it possible to identify a positioning of a physical point of interest in the first physical reference frame (for example, a point on a model). In particular, such positioning data may include location data in the first reference frame (or physical space) and orientation data in the first reference frame.

[0018] By the step of identifying, in real time, a position of a virtual point of interest on the digital model, reference is made to the mapping of physical points in the physical space to virtual points in the digital (or virtual) space. In particular, the identification refers to a pre-established association of the positions and the positioning data, so that the identification of the position can be implemented from the collected positioning data.

[0019] By digital marking, reference is made to a highlighting, in a digital or numerical manner, of an area or a set of points of the digital model. Such digital marking, also referred to as a digital dot, may for example correspond to a highlight, an outline, a digital superposition on the set of points of the digital model.

[0020] The features set out in the following paragraphs may, optionally, be implemented, independently of one another or in combination with one another:

[0021] According to one embodiment, the physical model and the digital model are synchronized by triangulation in the environment of the physical model, so that a physical point of the physical model is associated with a virtual point of the digital model.

[0022] Consequently, the matching of physical and virtual points in the physical space and in the virtual space is made possible by the synchronization of the physical and digital models. In other words, the models within the hybrid model are superimposed (i.e., synchronized), so that a virtual point of interest can be identified (and in particular, the position of this virtual point of interest) from the physical point of interest. A matching of the points of interest identified on different models contained in the hybrid model is then possible by synchronizing the physical and digital models.

[0023] According to one embodiment, the positioning data is collected from a physical marking carried out on the physical model.

[0024] Therefore, the positioning data can be associated with a specific point of interest highlighted on the physical model by a physical marking of such a point of interest. Such physical marking advantageously makes it possible to identify precisely the physical point of interest on the physical model. Furthermore, the realization of such physical marking on the physical model can advantageously make it possible to refine the positioning data, which are then associated with a clearly identified physical point of interest and delimited in the physical space by the physical marking.

[0025] By physical marking, reference is made to a highlighting, physically or actually, of an area or a set of points of the physical model. Such physical marking, also referred to as a physical dot, may for example correspond to a sticker affixed to the physical model, a symbol or a handwritten annotation affixed to the physical model or even to a punch made on the physical model. In particular, the physical marking may be superimposed or confused with the physical point of interest.

[0026] According to one embodiment, the positioning data is collected by infrared radiation by interaction of the marking system with infrared beacons arranged in the physical environment.

[0027] Therefore, the method advantageously makes it possible to accurately collect the positioning data of the physical point of interest. In particular, the infrared radiation used with the aid of infrared beacons advantageously makes it possible to accurately determine the positioning of the physical point of interest in an indoor environment, for example in a building. For example, the method can be applied from a physical model or prototype placed inside a workshop, a company building or an exhibition venue.

[0028] According to one embodiment, the method further comprises, after the step of collecting the positioning data:

[0029] - compare positioning data with pre-positioning ranges defined, said positioning ranges depending at least on dimensions associated with the physical model of the object and, depending on said comparison:

[0030] - adjusting the position of the virtual point of interest by a surface projection of said virtual point of interest on a surface of the digital model, such that the digital marking belongs to a surface of the digital model at a projected position.

[0031] Consequently, the proposed method advantageously makes it possible to automatically readjust or correct the position of the virtual point of interest on the digital model, despite an inaccuracy, an inconsistency or an aberrant data in the positioning data. Thus, the method makes it possible to take into account potential shifts or desynchronization of the physical and digital models, generating an imprecise correspondence between the physical and virtual points.

[0032] By predefined positioning ranges, reference may be made to a set of coordinates or values, ordered, (eg, intervals of values) designating points in the first (physical) reference frame. Such positioning ranges can, for example, be used to delimit a space (or an area of ​​the real, or physical, environment) occupied by the physical model. For example, such positioning ranges can delimit the space occupied by a physical model according to the length, width and height of the physical model. The values, amplitude or even the degree of precision of the positioning ranges can then depend on the dimensions of the physical model. The positioning ranges can delimit the area of ​​the real environment occupied by the physical model from a physical surface of the physical model. In particular, the positioning ranges can take into account a non-zero margin of error, so that the physical space delimited by the positioning ranges can be larger (in volume) than the physical space actually occupied by the physical model.

[0033] By a comparison between the positioning data and the positioning ranges, reference is made to a processing (or pre-processing) of the collected positioning data, and in particular of the collected location data, so as to determine whether the physical point of interest as identified by the positioning data, belongs to the area of ​​the real environment corresponding to the space occupied by the physical model. In particular, such a comparison makes it possible in particular to delimit the physical points to be associated with virtual points in the physical space, and thus to reduce the computational complexity or even the storage space required to identify the position of the virtual point of interest associated with the physical point of interest.

[0034] The step of adjusting the position of the virtual point of interest is implemented as a function of said comparison. In other words, such a step is implemented as a function of a result of said comparison. In one embodiment, the adjustment step can be implemented at least if the positioning data are included in the positioning ranges. In one embodiment, the adjustment step can be implemented if the positioning data are included in the positioning ranges and if the positioning data are close to the edges or extreme values ​​of one or more of the positioning ranges (for example, if a difference between a positioning data item and an extreme value of a positioning range is less than a predefined threshold).Such a condition is particularly advantageous in the case where the positioning ranges delimit an occupied space larger than the space delimited by the surfaces of the physical model: the projection step makes it possible in particular to adjust the position for physical points of interest not belonging to a surface of the physical model but belonging to a neighborhood of such a surface. In this case, the adjustment step makes it possible to bring the digital marking back onto a surface of the physical model, despite a point of interest. physical distant from a surface of the physical model, due to a slight desynchronization within the hybrid model for example.

[0035] By a surface projection of the virtual point of interest to adjust the position of the virtual point of interest to a projected position, reference is made to an adaptation of the position of the virtual point of interest in the virtual space (and therefore to an adjustment of the position identified in the second, virtual, reference frame). Such an adaptation can result in adjustment data associated with the identified position of the virtual point of interest. The surface projection then makes it possible to obtain a digital marking belonging to a surface of the digital model, despite an associated physical point of interest not belonging to a surface of the physical model. When the identified virtual point of interest belongs to the surface of the digital model, such a surface projection can be understood as a projection having a zero distance, so that the identified position corresponds to the projected position.

[0036] According to one embodiment, the method further comprises, after the step of collecting the positioning data:

[0037] - compare positioning data with pre-positioning ranges defined, said positioning ranges depending at least on dimensions associated with the physical model of the object and, if the positioning data of the physical point of interest are outside the positioning ranges:

[0038] - transmit a signal requiring collection of second positioning data of a second physical point of interest of the physical model in the first predefined reference frame.

[0039] Consequently, the proposed method advantageously makes it possible to reduce the computational complexity or even the storage space required to identify the position of the virtual point of interest associated with the physical point of interest, by not systematically processing all the collected positioning data. Indeed, the method proposes in particular, when the positioning data are outside the positioning ranges, to interrupt the processing of such positioning data and to emit a signal requiring another collection of positioning data. For example, such a signal can be emitted if the positioning data correspond to a point of interest located too far away from the physical model (namely, outside the positioning ranges), so that no plausible physical point of interest designated on the physical model can be identified (and consequently, no virtual point of interest is identified on the digital model).

[0040] By an emitted signal, reference may be made to an indication, for example visual, audible, haptic, emitted by the marking system to indicate the interruption of the marking process until new positioning data is recollected or an absence of digital marking generated from the positioning data. location collected.

[0041] According to one embodiment, the digital marking extends over a set of points of at least one surface of the digital model, said set of points resulting from a surface projection of the virtual point of interest onto said surface.

[0042] According to one embodiment, the positioning data includes at least data relating to an orientation of the marking system in the physical environment, and in which said surface projection depends on said orientation of the marking system relative to at least one physical surface of the physical model.

[0043] Consequently, the proposed method advantageously makes it possible to take into account the orientation of the marking system to generate the digital marking on the targeted surface of the digital model. In particular, such a surface projection is not necessarily implemented on the closest surface (i.e., having the shortest distance) with the virtual point of interest associated with the physical point of interest, but depends in particular on the orientation of the system, which provides additional details on the targeted point of interest.

[0044] According to one embodiment, the method further comprises, after the step of collecting the positioning data:

[0045] - record a shot of a portion of the physical model of the object including the physical point of interest, said shot being associated with the positioning data,

[0046] and in which said shot becomes metadata of the digital marking.

[0047] Consequently, the method makes it possible to enrich the digital model updated by the generated digital marking, in particular with metadata. In particular, the method makes it possible to obtain shots, or screenshots, of portions of the physical model and to associate them with the digital model, in particular with the digital marking generated from the physical point of interest designated on the physical model. The digital model and the physical model are then even more closely matched and can be used in a complementary and synchronized manner.

[0048] According to another aspect, there is provided a system for digitally marking an object comprising at least:

[0049] - a marking device configured to point to a physical point of interest of the physical model of the object, said pointing including the recording of a positioning of the physical point of interest in relation to the physical model of the object,

[0050] - a marking unit configured to receive positioning data said raised positioning, and

[0051] - at least one processing unit configured to implement the method propose.

[0052] In one embodiment, the system further comprises:

[0053] - an infrared communication interface configured to transmit in signals infrared to infrared beacons placed in a physical environment of the physical model of the object,

[0054] and in which the positioning of the physical point of interest is taken from said infrared signals.

[0055] According to another aspect, there is provided a computer program comprising instructions for implementing the proposed method when this program is executed by a processor.

[0056] According to another aspect, there is provided a non-transitory recording medium readable by a computer on which is recorded a program for implementing the method when this program is executed by a processor. Brief description of the drawings

[0057] Other characteristics, details and advantages will appear on reading the detailed description below, and on analyzing the attached drawings, in which: Fig.l

[0058] [Fig.l] shows a hybrid model according to one embodiment. Fig. 2

[0059] [Fig.2] shows a diagram of a hybrid model according to one embodiment. Fig. 3

[0060] [Fig.3] shows steps of a method for marking a hybrid model according to one embodiment. Fig. 4

[0061] [Fig.4] shows a physical model according to one embodiment. Fig. 5

[0062] [Fig.5] shows a digital model according to one embodiment. Fig. 6

[0063] [Fig.6] shows a physical model according to one embodiment. Fig. 7

[0064] [Fig.7] shows a screenshot of a digital model according to a rea ​​mode lization. Description of the embodiments

[0065] Reference is now made to [Fig.l]. [Fig.l] illustrates a modeling environment in the field of design and industrial design. Such a field may, for example, concern cutting-edge sectors such as the automotive sector or the luxury sector or other industrial sectors of mass production such as household appliances. In such sectors, the modeling of a product or a part (eg, a vehicle, a household appliance, a car part or even an accessory) may include the design of a physical model 4 and a digital model 5. The modeling of a product including both the physical model 4 and the digital model 5 is referred to as a so-called “hybrid” model.

[0066] The physical model 4 may for example correspond to a three-dimensional physical model according to a physical reference system (X, Y, Z), produced in the form of a 1:1 scale prototype or in the form of 3D printing. Such a physical model 4 may have any level of technological maturity (in English “Techology Readiness Level” or TRL), starting from a prototype comprising an approximate structure of the product (as represented by the physical model 4 in [Fig. 1]) to substantially finished and / or operational prototypes (as represented by the physical model 4 in figures 4 and 6).

[0067] The digital model 5 may correspond to a three-dimensional (3D) model of the product, produced in the form of a 3D model, or even a wireframe, surface, solid or 3D mesh model for example.

[0068] The hybrid model as represented in [Fig.l] can typically be designed and used during a product shaping phase during an industrial design project. In such a context, the physical model 4 can be used to detect, identify and / or highlight potential design or design defects. The digital model 5 can, for its part, integrate the correction of the defects identified on the physical model 4, so as to obtain an up-to-date digital model. The up-to-date digital model 5 can then be used for a product production launch phase, for example.

[0069] In order to allow such joint and synchronized use of the physical 4 and digital 5 models, the modeling environment as proposed in [Fig.l] further includes a system for marking the hybrid model. Such a marking system may comprise a marking unit 1 and a marking device 2 interacting with positioning beacons 3. The marking system is configured to generate a digital marking a, b, c (or virtual patch) of virtual points of interest on the digital model 5 from a physical marking A, B, C (or physical patch) of physical points of interest on the physical model 4. In particular, the digital marking a, b, c and the physical marking A, B, C are associated by a synchronization of the digital 5 and physical 4 models. Such synchronization of the hybrid model will be described below.

[0070] Reference is made to [Fig.2]. [Fig.2] details a schematic structure of the marking system.

[0071] The marking device 2 of the marking system may correspond to a device configured to be handled and moved by an individual (or user), in the form of a pole for example. In particular, the marking device 2 is configured to identify a physical point of interest on the physical model 4 of the product. The marking device 2 may also be configured to collect positioning data associated with such a physical point of interest. The marking device 2 may also be configured to generate a physical marking (or physical patch) associated with the physical point of interest on the physical model 4 of the product. The marking device 2 may also be configured to visualize a marking area on the physical model 4.

[0072] For this, the marking device 2 can comprise a physical pointer 21, a camera 22, a storage memory 23, a human-machine interface 24 and one or more positioning sensors 25.

[0073] The physical pointer 21 may be configured to generate a physical marking on the physical model 4. For example, the physical pointer 21 may correspond to a punch or a mechanical device for affixing a self-adhesive sticker or an adhesive pad to the physical model 4. The physical marking may be selected from several types (or categories) of marking. The different types of physical marking may be distinguished by distinct shapes, colors and / or annotations on the physical marking. The physical markings may for example be categorized according to a degree of processing priority, a type of defect raised, or even a part of the product. For example, with reference to [Fig.l], the physical model 4 corresponds to a physical model of a motor vehicle and the physical markings A, B, C are of three distinct forms, corresponding respectively to distinct views of the physical model 4: the dot A belongs to a frontal view of the vehicle (parallel to the plane (Y,Z) of the physical reference frame (X,Y,Z)), the dot B belongs to a lateral view of the vehicle (parallel to the plane (X,Z) of the physical reference frame (X,Y,Z)) and the dot C belongs to a horizontal view of the vehicle (i.e., parallel to the plane (X,Y) of the physical reference frame (X,Y,Z)).

[0074] The camera 22 may be configured to capture shots (in the form of images or video streams) continuously, periodically or upon manual control by the user. In particular, the camera 22 may be configured to capture shots of portions of the physical model 4, including for example a physical point of interest and / or a physical marking.

[0075] The storage memory 23 may be configured to store data collected by the marking device 2, such as positioning data, shots, a number and / or a number per type of physical pellets generated. The storage memory 23 may also store preconfigured data and parameters. In one embodiment, the storage memory 23 may also correspond to a remote memory, stored via a remote server of the device 2.

[0076] The human-machine interface 24 may be configured to interact with the user. For example, the human-machine interface 24 may be configured to receive, view and / or indicate the type of physical marking to be generated, to receive a shooting command or display a captured shot, or more generally to receive indications from the user or indicate an action or a state of the device 2 to the user. For this, the human-machine interface 24 may comprise a screen, a speaker, a microphone, an indicator light, a touch zone and / or a haptic zone.

[0077] The positioning sensors 25 may be configured to collect positioning data associated with a physical point of interest identified by the marking device 2. In other words, a positioning of the device 2 - including a location of the device and an orientation of the device - in the physical reference frame (X, Y, Z) may be estimated, in particular when the device 2 is positioned at the identified physical point of interest. For this, the positioning sensors 25 may include location and orientation sensors of the gyroscope, accelerometer, or inertial measurement unit (or IMU) type. The positioning sensors 25 may also include infrared signal sensors and / or transmitters configured to interact with positioning beacons (or antennas) 3 of the infrared beacon type.In one embodiment, the positioning sensors 25 may correspond to the position and orientation sensors configured to operate as described in French application FR2112136.

[0078] The marking unit 1 of the marking system can be configured to identify a virtual point of interest belonging to the digital model 5 associated with the physical point of interest identified by the marking device 2. The marking unit 1 of the marking system can in particular be configured to identify a position of the virtual point of interest on the digital model 5. Such a position being identified from the positioning data collected by the marking device 2. The marking unit 1 of the marking system can also be configured to generate a digital marking on the digital model 5 of the product from the identified position.

[0079] For this, the marking unit 1 may comprise a hybrid model synchronization unit 10, a communication unit 11, a processor 12, a memory unit 13, a digital marking unit 14 and a digital model updating unit 15.

[0080] The synchronization unit of the hybrid model 10 is configured to synchronize the physical model 4 and the digital model in space and time. For this, the physical reference frame (X,Y,Z) is synchronized to a virtual reference frame (x,y,z) associated with the digital model, as shown in [Fig.l]. For this, the synchronization unit nization 10 can be connected to databases and / or servers making it possible to connect sets of positioning data expressed in the physical reference frame (X,Y,Z) to positions expressed in the virtual reference frame (x,y,z).

[0081] The communication unit 11 is configured to receive and transmit data. For example, the communication unit 11 may be configured to receive the positioning data collected by the marking device 2. The communication unit 11 may also be configured to transmit data relating to the digital marking and / or the associated position determined from the positioning data to an interface (e.g., a screen), a platform or a software entity. For example, the communication unit 11 may transmit data relating to the generation of the digital marking to the software entity for modeling the digital model 5. Such a software entity managing the modeling of the digital model 5 may in particular be internal to the marking unit 1, connected for example to the unit for updating the digital model 15.

[0082] The processor 12 may be configured to execute instructions of a computer program recorded on a non-transitory recording medium, such a program allowing the implementation of a digital marking method as described in the remainder of the description and in [Fig.3].

[0083] The memory unit 13 may be configured to store data collected and / or determined by the marking unit 1, such as the positioning data received from the marking device 2, data relating to the generated digital markings, data relating to the digital model 5. In one embodiment, the memory unit 13 may correspond to a remote server storing a database of data received by the marking unit 1. The memory unit 13 may also correspond to a buffer memory temporarily storing the data received by the communication unit 11 (for example for processing by the processor 12) before transmitting the data for storage on a remote server (not shown in [Fig.2]).

[0084] The digital marking unit 14 may be configured to generate a digital marking associated with a position identified from the positioning data. In other words, the digital marking unit 14 may be configured to generate a virtual pad on a surface of the digital model 5 of the product. Such a virtual pad may for example be defined by a set of coordinates expressed in the virtual reference frame (x,y,z). The digital marking unit 14 may also be configured to generate digital pads (or two-dimensional pads, or 2D pads) defined by a set of coordinates (or pixels) expressed in an image reference frame (y,z). Such digital pads may for example be generated on screenshots of the digital model 5, such as re shown in [Fig.7]. In particular, the digital marking unit 14 is configured to generate the digital marking based on the position identified as being associated with the physical point of interest identified on the physical model 4 and therefore on the collected positioning data.

[0085] The digital model updating unit 15 may be configured to update the digital model 15, in particular with the generated digital marking. The digital model updating unit 15 may also be configured to integrate shots captured by the marking device 2 into the digital model 5, for example in the form of an update of a 3D model of the product. The digital model updating unit 15 may also be configured to order, enrich, link, associate and / or update data (for example in the form of metadata) associated with the digital model 5 and in particular with the different digital markings as updated on the digital model 5. Thus, the updated digital model 15 may be used as part of a collaborative project, in which the digital model 5 may be manipulated, annotated, with data associated with each digital marking (eg, its position, its category, its metadata) can be shared, exploited, modified and / or annotated.

[0086] Reference is now made to [Fig. 3]. [Fig. 3] illustrates a series of steps implementing a method for marking a hybrid model modeling a product. In the remainder of the description and in the figures, the product considered is a motor vehicle. In other embodiments, such a product may correspond to any other part, vehicle, element, object, device, apparatus whose design and conception are modeled by a hybrid model.

[0087] In a step 300 called initialization of the hybrid model, a physical model 4 of the product (e.g., a physical model or a prototype) and a digital model 5 of the product (e.g., a 3D model) are synchronized. For this, the synchronization unit of the hybrid model 10 can carry out a superposition of the models 4, 5 using the marking device 2 and / or a tracking device (or “tracker”) (not shown in the figures), such a device communicating with the positioning beacons 3 as shown in Figures 1 and 2. In particular, the tracking device can be used in the case of a mobile physical model (in particular when the physical model 4 can be removable, for example using a turntable). Step 300 includes an initialization phase and a calibration phase during which three virtual reference points are identified on the digital model 5 in the virtual reference frame (x,y,z).Three physical reference points associated with the respective positions of the three virtual reference points are then identified and placed on the physical model 4 in the physical reference frame (X,Y,Z). The superposition of the physical model 4 and the digital model 5 is then implemented by triangulation from . the association of the three physical landmarks and the three virtual landmarks. In particular, each point of an area of ​​the real (physical) environment including the physical model 4 is associated with a respective virtual point. Such an area of ​​the real environment may in particular depend on the positioning of the positioning beacons 3 in the real environment. For this, the tracking device is configured to interact with one or more positioning beacons 3 as illustrated in [Fig. 1]. With reference to Figures 1 and 2, three positioning beacons 3 are shown. In other embodiments, the number of positioning beacons 3 may vary, in particular depending on the size of the physical model 4.For example, a single positioning tag 3 can be used for a physical model 4 of a product the size of a coffee pot, while ten or twelve positioning tags 3 can be used for a physical model 4 of a larger product such as a machine, a boat, an airplane hull or even a train car for example. In step 300, the physical model 4 and digital model 5 are then adjusted, so that the models 4, 5 are identical. In other words, each point, surface, curve, line of the physical model 4 is associated with one or more positions represented on the digital model 5.

[0088] Furthermore, during such a step 300, position ranges and positioning ranges make it possible to delimit a surface of the hybrid model. The positioning ranges, defined in the physical reference frame (X,Y,Z), make it possible to delimit (with a predefined margin of error) a (physical) surface of the physical model 4. Such positioning ranges may depend at least on dimensions associated with the physical model 4 of the object. For example, with reference to [Fig. 4], the points D, E, F belong to the surface (or the envelope) of the physical model 4, while the point F' does not belong to the surface of the physical model 4. Similarly, the position ranges, defined in the virtual reference frame (x,y,z), make it possible to delimit a (virtual) surface of the digital model 5. Thus, with reference to [Fig. 5], the points d, e, f belong to the surface of the digital model 5.

[0089] In particular, the synchronization of the models 4, 5 in step 300 may include an association of the points of the physical and virtual spaces, so that each point of the area of ​​the real environment belongs to the positioning ranges and is associated with a point included in the position ranges in the virtual reference frame (x,y,z). In one embodiment, each point of the area of ​​the real environment, whether or not belonging to a surface of the physical model 4, may be associated with a point belonging to the surface of the digital model 5. For this, a surface projection of each virtual point in the virtual reference frame (x,y,z) associated with a physical point of the area of ​​the real environment may be implemented on the surface of the digital model 5, so that such a physical point may be associated with a projected virtual point belonging to the surface of the digital model 5. For example, with reference to Figures 4 and 5, the physical 4 and digital 5 models are synchronized in step 300 so that the physical points F and F' of the physical model 4 of [Fig.4] are both associated with the same virtual point f belonging to a surface of the digital model 5 of [Fig.5]. Thus, the area of ​​the real environment can make it possible to delimit a collision area of ​​the points of the physical and virtual spaces, in which the physical and virtual points belong respectively to the predefined positioning and position ranges.

[0090] In a step 310, at least one physical point of interest is identified on the physical model 4 of the product. By a physical point of interest identified on the physical model 4, reference may be made to a physical point of interest identified in the area of ​​the real environment including the physical model 4. For this, the marking device 2 may be taken in hand by a user, as illustrated in FIGS. 4 and 6, and positioned (i.e., both located and oriented) so as to point the physical pointer 21 of the device 2 towards the physical point of interest. Such pointing may bring the device 2 and the physical model 4 into direct contact or be a remote pointing. In particular, the device 2 may be oriented towards the surface of the physical model 4. In particular, the device 2 may be positioned so that the physical point of interest belongs to the surface of the physical model 4. For example, with reference to [Fig.4], the points D, E, F, F' may be physical points of interest identified via the marking device 2, the points D, E, F belonging to the surface of the physical model 4 and the point F' belonging to a plane P disjoint from (i.e., not intersecting with) the surface of the physical model 4. .

[0091] In an optional step 320, a physical marking (or pastillage) can be carried out on the surface of the physical model 4. In this case, the positioning data are in particular collected at the level of the physical marking. For example, with reference to [Fig. 4], a physical marking on the surface of the physical model 4 is carried out at the level of the physical points of interest D, E, F. The collected positioning data can then correspond respectively to the coordinates of the points D, E, F in the physical reference frame (X, Y, Z). The physical marking can be generated by user command, for example, by approaching the physical pointer 21 to the surface of the physical model 4. A type of physical marking can also be selected in step 340 (for example by selecting a category of physical marking to be generated via the human-machine interface 24).In one embodiment, the physical marking may correspond to (or be confused with) the identified physical point of interest, such that at step 320, no new additional physical patch is affixed to the physical model 4. The physical marking (and / or the physical point of interest) may be viewed via the human-machine interface 24 of the device. 2 when it is pointed towards the physical point of interest.

[0092] In an optional step 330, one or more shots may be captured by the camera 22 of the marking device 2. Such shots may in particular be associated with (and include) the identified physical point of interest. Such shots may be triggered periodically, automatically (for example, as soon as the device 2 is turned on and substantially stationary beyond a preconfigured time), or on manual command from the user (for example, by activating a shooting functionality of the device 2 via the human-machine interface 24).

[0093] In a step 340, positioning data of the physical point of interest are collected. Such positioning data include in particular orientation data and location data of the device 2 when it is positioned (or points) at the identified physical point of interest. To collect at least part of this positioning data (for example, the location data), the positioning sensors 25 of the marking device 2 can exchange radiofrequency signals with the positioning beacons 3 arranged in the real environment. Such positioning beacons 3 have in particular a known positioning in the physical reference frame (X, Y, Z). Such radiofrequency signals can in particular be infrared type radio waves.Positioning data may be determined by triangulation, by measuring arrival times (TOA), time differences in arrival times (TdOA) and / or propagation of infrared signals between the device 2 and each of the beacons 3. In particular, such a step is implemented substantially instantaneously, such that the positioning data collected in step 340 correspond substantially to the real-time positioning of the device 2 and vary substantially instantaneously when the device 2 is moved. To collect at least part of this positioning data (for example, the orientation data), the positioning sensors 25 of the device may measure a variation in movement and / or an intrinsic positioning of the device 2 using gyroscopes, gyrometers, accelerometers, inertial measurement unit.At the end of step 340, a set of positioning data is collected in association with the identified physical point of interest, such a set of positioning data being able to correspond to coordinates in the physical reference frame (X,Y,Z).

[0094] In a step 350, in one embodiment, the positioning data are processed so as to identify a point on the surface of the physical model 4 associated with the identified physical point of interest, and by association of the physical model 4 and the digital model 5, a point on the surface of the digital model 5 associated with the identified physical point of interest. For this, step 350 may include a comparison of the positioning data collected in step 320 to the predefined positioning ranges during step 300 according to the physical reference system (X,Y,Z). Such predefined positioning ranges may be associated with a surface or an occupation space in the real environment of the physical model 4. The amplitudes of the predefined positioning ranges may depend on the dimensions associated with the physical model 4, possibly taking into account a non-zero margin of error, so that the positioning ranges may define an occupation zone of the physical model 4 substantially larger than the actual surface of the physical model 4. For example, with reference to [Fig.4], the physical point F' may belong to the occupation zone of the physical model 4 without being precisely on a surface of the physical model 4.

[0095] If, in step 350, the positioning data are included in the predefined positioning ranges, this means that the physical point of interest identified in step 310 belongs to the area of ​​the real environment delimiting the physical model 4. In one embodiment, the positioning data may belong to the positioning ranges so that the physical point of interest can be directly associated with a surface of the physical model 4. In other words, the physical point of interest as identified by the device 2 is identified as belonging to the surface of the physical model 4. With reference to [Fig. 4] and by way of example, the respective positioning data of the physical points of interest D, E, F are included in the predefined positioning ranges and belong to the surface of the physical model 4.In another embodiment, the positioning data may belong to the positioning ranges such that the physical point of interest belongs to a neighborhood of the surface of the physical model 4, without being directly positioned on the surface of the physical model 4. For example, such an embodiment may correspond to the case where the positioning ranges define a surface of the physical model 4 with a non-zero margin of error, and the positioning data of the physical point of interest are close to the extreme values ​​of the positioning ranges (for example, with a deviation less than a predefined threshold). With reference to [Fig. 4] and by way of example, the positioning data of the physical point of interest F' may correspond to extreme values ​​of the predefined positioning ranges: the physical point of interest F' does not belong to the surface of the physical model 4.

[0096] In the case where the positioning data belong to the positioning ranges so that the physical point of interest can be directly associated with a surface of the physical model 4 (for example, points D, E and F of [Fig.4]), a virtual point of interest belonging to the virtual surface of the digital model 5 associated with the positioning data can be directly identified during a step 360 described below. In another case where the positioning data belongs to the positioning ranges so that the physical point of interest belongs to a neighborhood of the surface of the physical model 4, without being directly associated with the surface of the physical model 4 (for example, point F of [Fig.4]), an optional step 351 can be implemented.

[0097] At such a step 351, the positioning data can then be associated with adjustment data, so that the physical point of interest is associated with a projected virtual point of interest belonging to the surface of the digital model 5. Such a projected virtual point of interest can be considered by surface projection of the virtual point of interest initially associated with the physical point of interest (eg, whose position in the reference frame (x,y,z) corresponds to the positioning data in the reference frame (X,Y,Z)) on a surface of the digital model 5. With reference to [Fig.4] and by way of example, the physical point of interest F' belongs to a neighborhood of the surface of the physical model 4, without being directly associated with the surface of the physical model 4: the positioning data of the point F' can then be associated with adjustment data so that, in the virtual space, the virtual point associated with the physical point F' corresponds to a projected virtual point of interest f. The use of such adjustment data will be detailed in step 360.

[0098] The adjustment data may also take into account the orientation data of the device 2, so that the surface projection of a virtual point of interest associated with the physical point of interest identified on the surface of the digital model 5 is not systematically implemented with respect to the closest surface (i.e. having the shortest Euclidean distance) of the virtual point of interest initially associated with the physical point of interest. Such consideration of the orientation data for the surface projection of a virtual point of interest on the surface of the digital model 5 in the virtual space will be detailed in step 360.

[0099] If, in step 350, the adjustment data are outside the positioning ranges, it may be considered that the positioning of the device 2 is outside the area of ​​the real environment corresponding to the collision area of ​​the hybrid model. In other words, it is detected that the device is positioned too far away from the physical model 4 to identify a virtual point of interest associated with the physical point of interest corresponding to such positioning data. In this case, the rest of the method may be suspended (in particular, steps 360, 370, 380 may not be implemented) and a new acquisition of the positioning data in step 340 may be required. For this, an alert, a message and / or a colored indicator light may be activated via the human-machine interface 24 of the device 2 in a step 352.

[0100] At a step 360, a position of a virtual point of interest associated with the point of interest physical reference frame is identified on the digital model 5. In particular, the position of such a virtual point of interest depends on the positioning data of the physical point of interest. Such a position can be identified from the positioning data collected in step 320, from the synchronization of the hybrid model in step 300 as well as from any adjustment data associated with the positioning data as determined in step 350. By the initial synchronization of the hybrid model in step 300, the positioning data in the physical reference frame (X,Y,Z) can be associated with a position in the virtual reference frame (x,y,z). Thus, with reference to FIGS. 4 and 5, the virtual points of interest d, e, f on the digital model 5 can be associated with the physical points of interest D, E, F on the physical model 4.

[0101] In particular, during step 360, the adjustment data associated with the positioning data may be considered in order to identify a virtual point of interest belonging to the surface of the digital model 5, so that a physical point of interest belonging to the area of ​​the real environment of the physical model 4 without belonging to a surface of the physical model 4 may be associated with a (virtual) surface of the digital model 5. Thus, via the adjustment data, a surface projection of the virtual point of interest (initially) associated with the positioning data may be implemented on a (virtual) surface of the digital model 5, so that the virtual point of interest associated with such positioning data belongs to the surface of the digital model 5. For example, with reference to FIGS. 4 and 5, a surface projection of the virtual point of interest (not shown in [Fig.5]) associated with the positioning data of the point F' makes it possible to obtain the virtual point of interest f as a virtual point of interest associated with the physical point of interest F' of [Fig.4]. Such a virtual point of interest f is then a projected virtual point of interest of the physical point of interest F' and a virtual point of interest (initial) of the physical point of interest F. .

[0102] In particular, such a surface projection takes into account the orientation data of the device 2. With reference to Figures 6 and 7, the device 2 is located at a door of the vehicle. However, the device 2 is oriented so that the physical pointer 21 of the device 2 is oriented towards the rearview mirror of the door, as indicated by the dotted arrow in [Fig. 6]. Thus, the surface projection of the virtual point of interest associated with the positioning data of the device 2 in such a context makes it possible to obtain a projected virtual point of interest g belonging to the rearview mirror of the digital model 5, and not a virtual point of interest h which would result from a surface projection on the closest surface of the digital model 5, as indicated by the solid arrow in [Fig. 6]. At the end of step 360, a position in the virtual reference frame (x,y,z) associated with the identified physical point of interest can then be identified.In particular, such a surface projection allows . automatic correction of the correspondence between physical and virtual points in the hybrid model and in particular allows for the correction of slight synchronization shifts between the physical model 4 and the digital model 5.

[0103] In a step 370, a digital marking (or pellet) associated with the position identified in step 360 can be generated on the digital model 5, by the digital marking unit 14 of the marking system. Such a digital marking can correspond to a set of coordinates in the virtual reference frame (x,y,z) corresponding to a portion of the surface of the digital model 5. In particular, such a digital marking is said to be “surface”, in that it depends on the shape of the virtual surface of the digital model 5. With reference to [Fig.5], the digital markings d, e, f are generated on the digital model 5, such digital markings depending on the respective substantially horizontal, frontal and lateral surfaces to which they belong.In particular, if the physical marking generated in step 320 belongs to a given marking category, the associated digital marking generated in step 370 may retain such a category (as represented by the shapes of the physical markings A, B, C and digital markings a, b, c in [Fig.l]).

[0104] At a step 380, an updated digital model 5 of the product is obtained. Such an updated digital model 5 may in particular integrate the digital marking generated at step 370 from steps 310 to 350 implemented on the physical model 4. The digital model 5 obtained then corresponds to a digital modeling directly synchronized with the physical model 4, as shown in FIGS. 1 and 5. The updated digital model 5 may then be used, shared, annotated, completed, commented on via one or more software units. In particular, the digital markings generated at step 370 may be enriched by metadata. Such metadata may for example include the shots of the physical model 4 captured at step 330. For example, [Fig. 7] illustrates a shot of a portion of the physical model 4 as captured by the device 2 as positioned in [Fig. 6].Such a shot may then become metadata associated with the digital marking g as generated. In addition, such shots may include one or more two-dimensional digital patches, obtained from the digital markings generated on the digital model 5 during step 370.

[0105] In one embodiment, digitally originated pads can be created directly on the digital model 5 thus updated, for example by a software functionality. A position associated with such a digitally originated pad can then be obtained in the virtual reference frame (x,y,z). The synchronization of the physical 4 and digital 5 models as implemented during step 300 makes it possible in particular to obtain positioning data in the physical reference frame (X,Y,Z) associated with such a position. It is then possible to use the model digital 5 updated in step 380 in order to identify physical points of interest in the environment of the physical model 4 from digitally sourced pellets (and therefore virtual points of interest).

[0106] The digital model 5 thus updated, comprising digital markings - and potentially associated metadata - can then be used in the context of collaborative experiments involving actors who do not have access to the physical model 4. The updated digital model 5 in fact makes it possible to have a digital modeling synchronized with the physical model 4 manipulated in the real environment, such a digital modeling being able to be accessible for a plurality of IT entities (e.g., mobile devices, computers, cloud platform, etc.) remote from the physical model 4. List of reference signs

[0107] 1: processing unit

[0108] 10: hybrid model synchronization unit

[0109] 11: communication unit

[0110] 12: processor [YES] 13: memory unit

[0112] 14: digital marking unit

[0113] 15: digital model update unit

[0114] 2: marking device

[0115] 21: physical pointer

[0116] 22: camera

[0117] 23: storage memory

[0118] 24: man-machine interface

[0119] 25: positioning sensor(s)

[0120] 3: positioning beacon

[0121] (X,Y,Z): physical reference frame

[0122] A, B, C, D, E, F, F': physical points of interest

[0123] (x,y,z): virtual reference frame

[0124] a, b, c, d, e, f, g, h: virtual points of interest / digital markings

Claims

Claims

1. Method for marking a hybrid model of an object implemented by a marking system (1, 2), said hybrid model comprising at least one physical model (4) of the object in a physical environment and a digital model (5) of the object, the method comprising the following steps: - collecting (340) positioning data of a physical point of interest of the physical model (4) in a first predefined reference frame (X, Y, Z) of three-dimensional coordinates, - comparing (350) the positioning data with predefined positioning ranges, said positioning ranges depending at least on dimensions associated with the physical model (4) of the object, - depending on the collected positioning data, identifying (360), in real time, a position of a virtual point of interest on the digital model (5) in a second predefined reference frame (x, y, z),said virtual point of interest being associated with the physical point of interest and said position being obtained from the collected positioning data, - as a function of said comparison (350), adjusting (351) the position of the virtual point of interest by a surface projection of said virtual point of interest onto a surface of the digital model (5), - generating (370) a digital marking associated with said projected position onto the digital model (5) of the object, so that the digital marking belongs to a surface of the digital model (5) in said projected position.,

2. Method according to claim 1, wherein the physical model (4) and the digital model (5) are synchronized by triangulation in the environment of the physical model (4), so that a physical point of the physical model (4) is associated with a virtual point of the digital model (5).

3. Method according to one of the preceding claims, in which the positioning data is collected from a physical marking carried out on the physical model (4).

4. Method according to one of the preceding claims, in which the positioning data are collected by infrared radiation by interaction of the marking system (1, 2) with infrared beacons (3) arranged in the physical environment.

5. Method according to one of the preceding claims comprising in furthermore, after the step (340) of collecting the positioning data: - comparing (350) the positioning data with predefined positioning ranges, said positioning ranges depending at least on dimensions associated with the physical model (4) of the object and, if the positioning data of the physical point of interest are outside the positioning ranges: - emitting (352) a signal requesting collection of second positioning data of a second physical point of interest of the physical model (4) in the first predefined reference frame (X,Y,Z).

6. Method according to one of the preceding claims, in which the digital marking extends over a set of points of at least one surface of the digital model (5), said set of points resulting from a surface projection of the virtual point of interest on said surface.

7. Method according to one of the preceding claims, the positioning data including at least data relating to an orientation of the marking system (1,2) in the physical environment, and in which said surface projection depends on said orientation of the marking system (1,2) relative to at least one physical surface of the physical model (4).

8. Method according to one of the preceding claims, further comprising, after the step (340) of collecting the positioning data: - recording (330) a shot of a portion of the physical model (4) of the object comprising the physical point of interest, said shot being associated with the positioning data, and in which said shot becomes metadata of the digital marking.

9. Digital marking system (1, 2) for an object comprising at least: - a marking device (2) configured at least to point to a physical point of interest of the physical model of the object, said pointing including the recording of a positioning of the physical point of interest relative to the physical model (4) of the object, - a marking unit (1) configured at least to receive positioning data from said recorded positioning, and - at least one processing unit configured to implement the method according to one of claims 1 to 9.

10. System (1,2) according to claim 9 further comprising: - an infrared communication interface (25) configured to transmitting infrared signals to infrared beacons (3) arranged in a physical environment of the physical model (4) of the object, and in which the positioning of the physical point of interest is recorded from said infrared signals.

11. Computer program comprising instructions for implementing the method according to one of claims 1 to 8 when this program is executed by a processor.

12. Non-transitory recording medium readable by a computer on which is recorded a program for implementing the method according to one of claims 1 to 8 when this program is executed by a processor.

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