EP2936202A1 - Procédé et dispositif de détermination des coordonnées dans l'espace d'un objet cible - Google Patents

Procédé et dispositif de détermination des coordonnées dans l'espace d'un objet cible

Info

Publication number
EP2936202A1
EP2936202A1 EP13814497.7A EP13814497A EP2936202A1 EP 2936202 A1 EP2936202 A1 EP 2936202A1 EP 13814497 A EP13814497 A EP 13814497A EP 2936202 A1 EP2936202 A1 EP 2936202A1
Authority
EP
European Patent Office
Prior art keywords
laser beam
target
target object
distance
laser
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13814497.7A
Other languages
German (de)
English (en)
Inventor
Torsten Gogolla
Andreas Winter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Publication of EP2936202A1 publication Critical patent/EP2936202A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out

Definitions

  • the present invention relates to a method for determining the location coordinates of a target object according to the preamble of claim 1 and to an apparatus for determining the location coordinates of a target object according to the preamble of claim 8.
  • PRIOR ART EP 0 481 278 A1 discloses a method and an apparatus for determining two- or three-dimensional spatial coordinates of a target object.
  • the device comprises a laser distance measuring device, a camera device, a reference device and a control device.
  • the laser distance measuring device has a transmitting element, which emits a laser beam, and a receiving element, which receives a laser beam, which is at least partially reflected at the target object, as a receiving beam.
  • the reference means comprises first and second axes which are perpendicular to each other and span an internal coordinate system; a third axis of the coordinate system is perpendicular to the first and second axes through the intersection of the axes.
  • the apparatus further comprises first and second angle measuring means for determining an azimuth angle and an elevation angle.
  • the target object is precisely sighted via the camera device and the target axis of the laser distance measuring device and the sighting axis of the camera device are aligned with the target object.
  • the laser distance measurement is carried out by the laser distance measuring device and the azimuth and elevation angle values are determined by the angle measuring devices.
  • the two-dimensional location coordinates are calculated from the distance value and the azimuth angle, for the three-dimensional location coordinates additionally the elevation angle is required.
  • the known device for determining the location coordinates of a target object has the disadvantage that at least one scale measuring device is required, which increases the complexity and costs of the device for determining the location coordinates. Furthermore the laser beam must be precisely aligned with the target object for laser distance measurement and angle measurement.
  • the object of the present invention is to develop a method for determining the location coordinates of a target object in two or three dimensions, which is suitable for indoor use.
  • a device suitable for the method according to the invention for determining the spatial coordinates of a target object is to be developed, it being possible to calculate the spatial coordinates with high accuracy with limited equipment expenditure.
  • This object is achieved in the aforementioned method for determining the location coordinates of a target object according to the invention by the features of independent claim 1 and in the aforementioned device for determining the location coordinates of a target object by the features of independent claim 8.
  • Advantageous developments are specified in the dependent claims.
  • the method for determining the location coordinates of a target object in a measurement area in at least two dimensions comprises the steps:
  • ⁇ a target device with a reflector element is positioned on the target object
  • ⁇ a laser beam is emitted by a transmitting element of a laser distance measuring device to the target device
  • At least part of the laser beam is partially reflected at the reflector element
  • the laser beam which is at least partially reflected at the reflector element is received as a receiving beam by a receiving element of the laser distance measuring device,
  • ⁇ a first distance is calculated from a focal length of the camera device, the calculated distance to the target object and a first image coordinate of the center of gravity of the light reflection
  • the location coordinates of the target object are calculated from the distance and the first distance.
  • Determining the spatial coordinates of the target object with the aid of a laser distance measurement and a light reflection in an image of a camera device has the advantage that no expensive angle measuring device is required and the spatial coordinates nevertheless have a high angle Accuracy can be determined.
  • the reflector element of the target device generates a reflected laser beam, which is visible in a picture of the target device as a light reflection.
  • the method according to the invention is suitable for resting target objects and moving target objects.
  • a second distance is calculated from the focal length of the camera device, the distance to the target object and a second image coordinate of the center of gravity of the light reflection, and the spatial coordinates of the target object are additionally calculated from the second distance.
  • the second distance enables the determination of three-dimensional location coordinates of a target object in a measurement space.
  • the geometry of the target device determines whether the method can be used to determine two- or three-dimensional location coordinates.
  • an aiming device in the form of a circular cylinder or a circular cylinder section is used and for determining three-dimensional location coordinates, a spherical or spherical section-shaped aiming device is used.
  • a sequence of images of the target device is taken with the camera device.
  • the laser beam which is directed onto the target device can be designed as a widened laser beam with an aperture angle greater than 80 °, as a moving laser beam or as a moving laser beam with an aperture angle smaller than 10 °.
  • the widening of the laser beam can take place in one direction or in two directions perpendicular to the propagation direction of the laser beam.
  • the laser beam is at least partially reflected at the reflector element of the target device and generates a light reflection in the image of the camera device. If the camera device takes a sequence of images of the target device, the light reflection is visible as long as the laser beam is emitted.
  • the camera device records images of the target device with a light reflex as well as images without a light reflex.
  • the image with the strongest light reflection is determined as the image of the target device with the light reflection from the sequence of images taken with the camera device.
  • the first variant is particularly suitable for moving laser beams, in which, as a result of the images taken with the camera device, images with a light reflex as well as images without a light reflex are present.
  • the image with the strongest light reflection can be determined using known image processing techniques.
  • the image of the target device with the light reflex is determined by averaging over a plurality of images from the sequence of images taken with the camera device.
  • the second variant is particularly suitable for non-moving laser beams, in which the light reflection in the images is visible, as long as the laser beam is sent out.
  • the averaging over several images with a light reflex can be done using known image processing techniques.
  • the recording of the images of the target device with the camera device and the distance measurement to the target device with the laser distance measuring device are simultaneously started by a control device.
  • the laser distance measuring device and the camera device are synchronized. Synchronization is advantageous for moving targets. Since the measuring time for a distance measurement and the exposure time for the camera device generally differ from each other, the distance values and the images of the target device are not determined at the same time. The synchronization allows the measured distance values and recorded images of the target device to be associated with one another. The closer the time points for the distance measurement and the recording of the image are to each other, the smaller the error in the location coordinates. For fast-moving target objects, it is important to correctly match the distance value to the captured image of the target device in order to limit the error.
  • a distance value measured by the laser distance measuring device is assigned by the control device to an image of the target device recorded with the camera device.
  • the correct association between the measured distance values and the recorded images of the target device is especially important for fast-moving target objects in order to reduce inaccuracies in the location coordinates.
  • the control element of the laser distance measuring device can assign a measured time value to each measured distance value after the start of the distance measurement, and the control element of the camera device can also assign a time after the start of the image recording to each recorded image of the target device. Due to the simultaneous start, an evaluation element of the control device can associate the measured distance values and the recorded images of the target device with one another. As a criterion for the assignment is, for example, that a distance value, the temporal image of the target device is assigned or that an image of the temporally following distance value is assigned.
  • the device according to the invention for determining the location coordinates of a target object in a measurement area comprises at least two dimensions:
  • a laser distance measuring device having a transmitting element which emits a laser beam, a receiving element which receives a laser beam at least partially reflected by the reflector element as a receiving beam, and a control element,
  • a camera device with a receiving device and a control element
  • ⁇ a reference device having a first axis and a second axis, wherein the first and second axes are arranged perpendicular to each other and intersect at an intersection
  • ⁇ a control device with a control element for controlling the laser distance measuring device and the camera device as well as an evaluation element for calculating the location coordinates of the target object.
  • the device according to the invention makes it possible to determine the location coordinates of a target object without angle measuring device.
  • a cost-effective device can be realized, which can measure the location coordinates of the target object with high accuracy.
  • the distance measurement with the laser distance measuring device and the recording of the images of the target device with the camera device can be started at the same time via the control element of the control device.
  • the reflector element is formed in a preferred embodiment as a rotationally symmetrical body or as a section of a rotationally symmetrical body.
  • the geometry of the reflector element of the target device decides whether the device can be used to determine two- or three-dimensional location coordinates.
  • circular cylinders or circular cylindrical sections are suitable as a reflector element and for three-dimensional measurements, spheres or spherical sections are suitable.
  • a rotationally symmetrical body has the advantage that the distance from the surface to the center is identical from all directions.
  • the location coordinates of the target object lie on the cylinder axis of the circular cylinder or in the center of the sphere.
  • the radius of the circular cylinder or the ball is stored in the control device or is entered by the operator into the control device.
  • the radius of the target device is added to the measured distance of the laser distance measuring device and to the image coordinates of the light reflection.
  • the laser distance measuring device has a beam-shaping optical system which expands the laser beam with an opening angle greater than 80 °.
  • the widening of the laser beam in a direction perpendicular to the propagation direction or in two directions perpendicular to the propagation direction of the laser beam can take place.
  • the expansion in one direction produces a line beam suitable for the determination of two-dimensional position coordinates, and the two-way expansion generates a spherical segment-expanded laser beam for the determination of three-dimensional location coordinates.
  • the widening of the laser beam by a beam shaping optics offers the possibility of using a stationary laser distance measuring device.
  • the measuring device with the laser distance measuring device is arranged outside the measuring area or at the edge of the measuring area and aligned so that the expanded laser beam can cover the entire measuring area.
  • the widening of the laser beam with an aperture angle greater than 80 ° is particularly suitable for the determination of two-dimensional spatial coordinates. If the laser beam is widened in a spherical segment in two perpendicular directions by an opening angle greater than 80 °, there is a risk in the case of a limited power of the laser beam that the power density of the receiving beam is too low for the evaluation. If sufficient power is available for the laser beam, a spherical segmented laser beam with aperture angles greater than 80 ° can be used to determine three-dimensional location coordinates.
  • beam-shaping optical system encompasses all beam-shaping optical elements which expand, collimate or focus a laser beam.
  • the beam shaping optics can consist of an optical element, in which one or more optical functions are integrated, or of a plurality of successively arranged optical elements. Cylindrical lenses, cone mirrors and similar optical elements are suitable as beam shaping optics for expanding a laser beam.
  • the beam-shaping optical system expands the laser beam in a direction substantially parallel to the measurement plane.
  • the beam-shaping optical system collimates or focuses the laser beam particularly preferably in a direction substantially perpendicular to the measurement plane.
  • This beam-shaping optical system is particularly suitable for the determination of two-dimensional spatial coordinates and has the advantage that the available power of the laser beam is used optimally. When determining two-dimensional position coordinates in the measuring plane, no widening of the laser beams is required in the direction perpendicular to the measuring plane. The limited power of the laser beam is distributed in the measuring plane.
  • the laser distance measuring device has a motor unit, wherein the motor unit pivots the laser beam about an axis of rotation perpendicular to the measuring plane or about a pivot point.
  • the rotation of the laser beams is useful if the power density of the laser beams after the expansion is too small to obtain a sufficiently strong reception beam for the laser distance measurement.
  • the rotation of the laser beam about the axis of rotation perpendicular to the measuring plane can be carried out as a rotating, scanning or tracking movement. In this case, the laser beam is rotated continuously during the rotating movement about the axis of rotation, periodically in the scanning movement about the axis of rotation back and forth and in the tracking motion follows the laser beam of Aiming device.
  • the rotation of the laser beam about a pivot point is provided for the determination of three-dimensional location coordinates and is preferably used with a tracking device that tracks the moving target device.
  • the motor unit of the second variant can be combined with beam shaping optics which collimate or focus the laser beam.
  • the laser distance measuring device has beam shaping optics and a motor unit, wherein the beam shaping optics expands the laser beam with an opening angle of up to 10 ° and the motor unit moves the laser beam about a rotation axis perpendicular to the measurement plane or about a pivot point.
  • the expansion of the laser beam and the rotation about a rotation axis (two-dimensional) or a fulcrum (three-dimensional) can be combined.
  • the laser beam is expanded by a beam shaping optics up to 10 ° and the expanded laser beam is moved by a motor unit about an axis of rotation or about a pivot point.
  • the combination of beam expansion and rotation allows the detection of a receive beam with a sufficiently high power density for the evaluation of the light reflection.
  • the widening of the laser beam can take place in one or two directions perpendicular to the propagation direction of the laser beam.
  • the rotation of the laser beam can be performed as a rotating, scanning or tracking movement.
  • the aiming device of the device according to the invention is attached to a hand-held tool device.
  • the current location coordinates of the tool device can be determined with the device according to the invention.
  • FIG. 1 shows a device according to the invention for determining the location coordinates of a target object in a measuring plane, comprising a target device, a laser distance measuring device, a camera device, a reference device, a control device and a handset;
  • FIG. 2 shows the device of FIG. 1 with the laser distance measuring device, the camera device and the control device in the form of a block diagram; and
  • FIG. FIG. 3 shows an image of the aiming device taken with the camera device with a reflected laser beam as the light reflex, which is evaluated for determining the location coordinates of the target object.
  • FIG. 1 shows an apparatus 10 according to the invention for determining the location coordinates X M , Y M of a target object 11 in a measurement area 12.
  • the measurement area 12 is designed as area and the location coordinates X M , YM of the target object 1 1 are two-dimensional.
  • FIG. 1 shows the essential components of the device 10 in a schematic representation.
  • the apparatus 10 comprises a sighting device 13, a laser distance measuring device 14, a camera device 15, a reference device 16, a control device 17 and a handpiece 18.
  • the target device may be integrated into the handle.
  • the laser distance measuring device 14, the camera device 15, the reference device 16 and the control device 17 are integrated in a measuring device 19, which in the in FIG. 1 illustrated embodiment is mounted on a device stand 20.
  • the handpiece 18 has a control element 21, a display device 22 with a display 23 and an operating device 24.
  • the control device 17 may be arranged in the handpiece 18.
  • the measuring device 19 and the handle 18 are connected to each other via a wireless communication link 25.
  • the reference device 16 comprises a first and second axis 26, 27, which are arranged perpendicular to each other and intersect at an intersection point 28.
  • the first and second axes 26, 27 span an internal coordinate system.
  • a third axis 29 of the coordinate system runs perpendicular to the first and second axes 26, 27 through the intersection 28 of the two axes 26, 27.
  • the first and second axes 26, 27 span an image plane of the camera device 15 and the viewing direction of the camera device 15 runs parallel to the third axis 29.
  • the position of the target object 1 1 in the measurement plane 12 is marked by means of the target device 13.
  • the aiming device 13 has a reflector element 31 for partially reflecting a laser beam of the laser distance measuring device 14.
  • the reflector element 31 is in the in FIG. 1 embodiment designed as a circular cylinder and the spatial coordinates of the target object 1 1 lie on the cylinder axis 32 of the reflector element 31st
  • the distance from the surface of the reflector element 31 to the target object 1 1 is stored in the control device 17 or is entered by the operator into the control device 1 7.
  • the reflector element 31 can be attached to a staff 33 and is positioned by the operator on the target object 1 1.
  • a leveling device for example in the form of a dragonfly or another inclination sensor, may be integrated into the measuring rod 33.
  • the target device 13 may be attached to a wall or a ceiling, placed on a floor, or fastened to, for example, a vehicle or a tool device.
  • the two-dimensional spatial coordinates X M , Y M of the target object 1 1 are determined from the distance D between the laser distance measuring device 14 and the target object 1 1 and an image coordinate of the reflected laser beam in the image of the camera device 15.
  • the target device 13 is positioned in the measurement plane 12 on the target object 1 1. In this case, it is ensured that the cylinder axis 32 of the reflector element 31 is aligned perpendicular to the measuring plane 12. If the location coordinates of the target object 1 1 are to be determined in an external coordinate system that deviates from the internal coordinate system 26, 27 of the measuring device 19, the coordinate systems are superimposed or the displacement and / or rotation are determined and entered manually or automatically on the measuring device 19 transmitted to the control device 17.
  • the axes 26, 27, 29 of the measuring device 19 are aligned, for example, parallel to the coordinate axes of the external coordinate system. After aligning the coordinate system, the Measurement, the operator starts the measurement via a start button or a start command on the handset 18.
  • the device 10 can also be used for finding location coordinates.
  • the user guides a reflector element equipped with a measuring tip or the like, which can also be integrated in the handpiece, over a measuring surface and searches for predetermined location coordinates.
  • the location coordinates can be entered manually in the handset or they are transmitted via a communication link from another device to the device.
  • FIG. 2 shows the essential components of the measuring device 19 and their interaction in the determination of the location coordinates of the target object 11 in the form of a block diagram.
  • the measuring device 19 are laser distance measuring device 14, the camera device 15 and the control device 17th
  • the laser distance measuring device 14 has a coaxial construction and comprises a transmitting element 41 designed as a laser diode, a receiving element 42 designed as a photodetector, a beam splitting optics 43, a beam shaping optics 44 and a control element 45.
  • the laser diode 41 emits a laser beam 46 which is incident on the target device 13 is directed.
  • a laser beam at least partially reflected at the reflector element 31 of the target device 13 is detected as a receive beam 47 by the photodetector 42.
  • the control element 45 is connected to the laser diode 41 and the photodetector 42.
  • the laser beam 46 emitted by the laser diode 41 is spatially separated from the receiving beam 47 with the aid of the beam splitting optical system 43.
  • a biaxial laser distance measuring device in which the emitted laser beam and the reception beam are offset in parallel can be used.
  • the beam shaping optics 44 may be formed as a single optical element or as a system of multiple optical elements and shape both the laser beam 46 and the receive beam 47. Unlike known laser distance measuring devices using a focused point laser beam, the device 10 of the present invention is required in that the laser beam 46 detects a larger angular range. This can be achieved by widening the laser beam 46 in the measurement plane 12 and / or by rotating the laser beam 46 about an axis of rotation perpendicular to the measurement plane 12.
  • FIG. FIG. 2 shows a laser distance measuring device 14, in which the laser beam 46 is widened by means of a suitable beam shaping optics 44. Cylindrical lenses and cone optics are suitable as beam-shaping optics 44 for widening.
  • the camera device 15 is designed for example as a CCD camera and comprises a receiving device 48 and a control element 49 for controlling the camera device 15 and for evaluating the recorded images. To determine two-dimensional location coordinates, a series of pixels arranged in the measurement plane 12 is required. For three-dimensional spatial coordinates, the camera device 15 has a plurality of rows of pixels.
  • the control device 17 controls the method according to the invention for determining the location coordinates of the target object 11 by means of the laser distance measuring device 14 and the camera device 15.
  • the control device 17 comprises a control element 51 for controlling the laser distance measuring device 14 and the camera device 15 as well as an evaluation element 52 for calculating the position coordinates X M , YM of the target object 1 1.
  • the laser distance measuring device 14 and the camera device 15 have the laser distance measuring device 14 the control element 45 and the camera device 15 the control element 49.
  • the control elements 45, 49 may be formed as separate control elements or be integrated with the control device 17 in a common control device.
  • a common control device lends itself when the control device 17 is arranged in the measuring device 19.
  • the control device 17 is arranged in the handpiece 18, separate control elements are advantageous since the raw data of the laser distance measuring device 14 and the camera device 15 need not be transmitted to the handset 18 via the communication link 25.
  • the operator starts the determination of the location coordinates via a start command on the handset.
  • the start command is converted by the control element 51 of the control device 17 into a first control command to the laser distance measuring device 14 and a second control command to the camera device 15.
  • the transmitting element 41 of the laser distance measuring device 14 emits the laser beam 46, which strikes the reflector element 31 and is partially reflected at the reflector element 31.
  • the reflected portion of the laser beam 46 impinges on the receiving element 42 of the laser distance measuring device 14 as a receiving beam 47.
  • the control element 45 of the laser distance measuring device 14 determines the distance between the laser distance measuring device 14 and the reference beam 47 and a reference beam which has been coupled out of the laser beam 46 the reflector element 31.
  • the radius R of the nikzylin- derförmigen reflector element 31 is added.
  • the camera device 15 records a sequence of images of the target device 13.
  • the images of the camera device 15 are using known Image processing techniques evaluated.
  • the laser beam 46 partially reflected at the reflector element 31 is visible in at least one image of the target device 13 as a light reflection.
  • the control element 52 of the camera device 15 determines, with the aid of known image processing techniques, the image of the target device 13 which has the strongest light reflection.
  • several images in which a light reflex is visible can be averaged.
  • FIG. FIG. 3 shows an image 61 of the target device 13 with a light reflection 62, which is evaluated for the determination of the location coordinates of the target object 11.
  • the image 61 consists of an array of pixels arranged in rows and columns, the number of pixels being determined by the resolution of the camera device 15.
  • a center of gravity 63 of the light reflection 62 is determined by means of known image processing techniques by the control element 49 of the camera device 15.
  • the center of gravity 63 of the light reflection 62 has, in the internal coordinate system 26, 27 of the camera device 15, a first image coordinate X s and a second image coordinate Y s . From the image coordinates X s , Ys of the center of gravity 63 of the light reflection 62, a first distance c and a second distance d 2 are calculated with a focal length f of the camera device 15.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un procédé de détermination des coordonnées dans l'espace (XM, YM, ZM) d'un objet cible (11) dans une zone de mesure (12) dans au moins deux dimensions (X, Y, Z). Ce procédé comprend les étapes suivantes : un dispositif cible (13) pourvu d'un élément réflecteur (31) est positionné sur l'objet cible (11) ; un faisceau laser (46) est émis par un élément d'émission (41) d'un dispositif de mesure de distance à laser (14) sur le dispositif cible (13) ; au moins une partie du faisceau laser (46) est en partie réfléchie sur l'élément réflecteur (31) ; une image du dispositif cible (13) est prise par un dispositif formant caméra (15) au moyen du ou des faisceaux laser au moins en partie réfléchis en tant que reflet lumineux ; un centre de gravité du reflet lumineux est déterminé dans l'image du dispositif cible (13) ; le faisceau laser en partie réfléchi sur l'élément réflecteur (31) est reçu en tant que faisceau de réception par un élément de réception du dispositif de mesure de distance à laser (14) ; une distance par rapport à l'objet cible (11) est calculée à partir du faisceau de réception ; un premier écart est calculé à partir d'une distance focale du dispositif formant caméra (15), de la distance calculée par rapport à l'objet cible (11) et d'une première coordonnée d'image du centre de gravité du reflet lumineux ; les coordonnées dans l'espace (XM, YM, ZM) de l'objet cible (11) sont calculées à partir de la distance et du premier écart.
EP13814497.7A 2012-12-20 2013-12-17 Procédé et dispositif de détermination des coordonnées dans l'espace d'un objet cible Withdrawn EP2936202A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012223928.6A DE102012223928A1 (de) 2012-12-20 2012-12-20 Verfahren und Vorrichtung zum Bestimmen der Ortskoordinaten eines Zielobjektes
PCT/EP2013/076802 WO2014095784A1 (fr) 2012-12-20 2013-12-17 Procédé et dispositif de détermination des coordonnées dans l'espace d'un objet cible

Publications (1)

Publication Number Publication Date
EP2936202A1 true EP2936202A1 (fr) 2015-10-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP13814497.7A Withdrawn EP2936202A1 (fr) 2012-12-20 2013-12-17 Procédé et dispositif de détermination des coordonnées dans l'espace d'un objet cible

Country Status (6)

Country Link
US (1) US10048378B2 (fr)
EP (1) EP2936202A1 (fr)
JP (1) JP2016505839A (fr)
CN (1) CN104981712A (fr)
DE (1) DE102012223928A1 (fr)
WO (1) WO2014095784A1 (fr)

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KR102258059B1 (ko) * 2014-08-14 2021-05-28 삼성전자주식회사 무선 거리 측정 장치 및 방법
US11481854B1 (en) * 2015-02-23 2022-10-25 ImageKeeper LLC Property measurement with automated document production
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DE102012223928A1 (de) 2014-06-26
US20150346341A1 (en) 2015-12-03

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