WO2019200422A1 - Procédé et dispositif de détection de surfaces - Google Patents

Procédé et dispositif de détection de surfaces Download PDF

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Publication number
WO2019200422A1
WO2019200422A1 PCT/AT2019/060135 AT2019060135W WO2019200422A1 WO 2019200422 A1 WO2019200422 A1 WO 2019200422A1 AT 2019060135 W AT2019060135 W AT 2019060135W WO 2019200422 A1 WO2019200422 A1 WO 2019200422A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
cameras
illumination
flash
flash device
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.)
Ceased
Application number
PCT/AT2019/060135
Other languages
German (de)
English (en)
Inventor
Heiner Kontrus
Ralph KARTNALLER
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.)
DIBIT MESSTECHNIK GmbH
Original Assignee
DIBIT MESSTECHNIK GmbH
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 DIBIT MESSTECHNIK GmbH filed Critical DIBIT MESSTECHNIK GmbH
Publication of WO2019200422A1 publication Critical patent/WO2019200422A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/005—Photographing internal surfaces, e.g. of pipe
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view

Definitions

  • the invention relates to a device for measuring surfaces, in particular tunnels, comprising a plurality of cameras. Furthermore, the invention relates to a method for measuring and evaluating surfaces with a device according to the invention.
  • the determination of the geometry of a tunnel construction is also of great importance, e.g. to monitor the implementation of a construction project, to record changes in the geometry of a tunnel, to inspect the building stock and to log changes to the surface. Measurements of the tunnel geometry are also used by the clearance control, which makes statements as to whether vehicles with a certain spatial extent can pass the structure without damage.
  • the measurement of tunnel geometry at different stages of construction also enables the calculation of material volumes and the determination of under- and over-profiles with reference to a defined tunnel cross-section. Also, geological and structural deformations of the tunnel structure can be detected and quantified.
  • DE 10 2005 012 107 A1 describes, for example, a measuring system and a method for geodetic surveying of objects, in particular of tunnels.
  • the measuring system comprises a measuring vehicle and at least one laser scanner arranged on the measuring vehicle as well as a position measuring device independent of the laser scanner. The measurement takes place sequentially, wherein the scanning device scans a section of the tunnel lining in each sequence. This leads to long surveying times at a maximum measuring vehicle speed of 20 cm / s.
  • the optical measuring system has at least two measuring heads, which each contain a laser and at least one CCD video camera.
  • the laser serves as a light source, with the beam strongly diverging in one axis, forming a laser light fan.
  • the lighting and recording takes place continuously.
  • the measuring speed can be up to 300 km / h.
  • a maximum resolution of 1 cm can be achieved.
  • a major disadvantage of this method is that also only a limited sector can be measured. Another significant disadvantage is that the texture of the surface to be measured is not detected.
  • CN 102721365 B describes, as the closest prior art, a measuring method and a measuring device which enables a measurement of tunnel sections.
  • the measuring device comprises a plurality of line lasers and a plurality of high-speed cameras, wherein the cameras synchronously record the sections illuminated by the line lasers.
  • the measuring system has two distance measuring units based on laser scanning. The coarse tunnel profile can be measured with the distance measuring units. Details of the surface can be recorded with the photogrammetry unit.
  • the measuring device can also be attached to a measuring vehicle and driven through a tunnel. In this case, a measured distance can be determined with a deviation of 10 mm.
  • the cameras of the measuring device are mounted on rotatable elements, which leads to parallax errors. Moreover, a true to color representation with a Laser-based illumination is not possible because the lasers used emit only monochromatic light.
  • the present invention has for its object to improve a device of the type mentioned in such a way that a measurement of the largest possible surface portion with high surface resolution and simultaneously high survey speeds is possible.
  • An axis between viewing direction of the camera Kt and the motif or camera motif rri j is designated as the camera axis k t .
  • the camera axis is congruent with the optical axis of the lens.
  • the camera axes are offset relative to one another by a distance along the longitudinal axis z s .
  • a described rotation and displacement of the camera axes relative to one another results in the camera axes being arranged circularly along the longitudinal axis.
  • Circular arrangement of the camera axes along the longitudinal axis is understood to mean that the shortest connecting lines between imaginary points Hi on each camera axis k t (which have the same distance to the longitudinal axis for all i) have a total screw or helix shape.
  • the sum of the angles, which are included by the camera axes k t > 180 °, preferably> 270 °, more preferably about 360 °.
  • an image section ß j is receivable, wherein the image sections B i i + 1 of two adjacent cameras K i i + 1 in the projected area to at least 20%, preferably at least 30% overlap, in the direction of travel however, in about 60% - 70% overlap.
  • the cameras are preferably high-resolution, digital color image cameras. Particularly preferred are industrial cameras with low noise, which in addition to the properties mentioned have a high frame rate, a high data transfer rate, short exposure times and a low tripping delay.
  • At least one illumination device and / or one flash device is provided.
  • the at least one illumination device and / or at least one flash device is arranged substantially outside the angle of view of a camera.
  • the angle of view ßi a camera K t is that angle in the subject space, which is limited by the edges of the recording format.
  • the illumination center of gravity S j is the point of an extended light source which is equivalent to the (geometric) center of gravity of the respective geometric shape of the corresponding light source.
  • the axis of an illumination centroid S j is the imaginary straight line which connects an illumination centroid S j to a light centroid.
  • the light center of gravity corresponds to the (geometric) center of gravity of the intensity distribution caused by an extended light source at a certain distance from the light source.
  • the at least one illumination device and / or a flash device preferably has at least one LED.
  • the at least one LED can be provided in an embodiment variant with an optic, in particular a converging lens, for collimating the emitted light.
  • At least one flash device can be provided that a control is provided with which the multiple cameras Kt are triggered substantially simultaneously and wherein the at least one flash device is also triggered simultaneously with the plurality of cameras K t . Furthermore, the at least one flash device can be aligned such that each image section ß j of each camera K t can be illuminated. The cameras and the at least one flash device thus trigger synchronously. In addition, each image section from each camera is illuminated (simultaneously) by the at least one flash device.
  • Collimation is generally understood in optics to mean the parallel direction of divergent light rays.
  • the term is a general bundling with a converging lens, which counteracts a divergence of light rays. It does not necessarily have to be an exact parallel direction of the light.
  • the device according to the invention is particularly preferably formed from individual segments e, wherein the individual segments act as a receptacle for at least one camera Kt as well as a receptacle of at least one illumination device and / or at least one flash device L j .
  • the individual segments are designed to be connected to each other.
  • at least one laser system may additionally be provided.
  • a 3D laser measuring system or a laser scanning device can be provided.
  • the above objects are also achieved by a method for measuring surfaces with a device according to the invention.
  • the method according to the invention is particularly suitable for the geometric measurement of tunnels.
  • Such a method is particularly suitable for measuring the structure geometry for the detection or analysis of building deformations, cracks and damaged areas in general.
  • the method can also be carried out for the measurement of tunnels, shafts, caverns, canals, embankments, house facades, etc., this list is not exhaustive.
  • a preferred variant of a method according to the invention enables a simultaneous 360 ° recording of the surface to be measured, in particular about the longitudinal axis z s of the device of the aforementioned type.
  • the cameras Kt are arranged so that in one pass a recording of subjects m j within an angle of 360 ° is possible. In one pass, this means that all cameras K t are triggered substantially simultaneously.
  • one or more flash devices are triggered simultaneously with all cameras K t .
  • the flash device is preferably oriented such that each image section ß j of each camera Kt is illuminated.
  • a plurality of images with image detail ß j of several cameras K t are made by the multiple cameras K t are triggered substantially simultaneously, wherein substantially simultaneously with all cameras K t and at least one flash device is triggered, wherein the at least one flash device is oriented such that each image section B t is illuminated by each camera K t.
  • the cameras and the at least one flash device trigger synchronously.
  • each image section from each camera is illuminated (simultaneously) by the at least one flash device.
  • a surface measurement can take place statically, wherein measurements can be carried out with a device according to the invention without time-dependent change of location. More preferably, the measurement of surfaces during a time-dependent displacement, wherein a device according to the invention is mounted on a vehicle and / or a watercraft, wherein the measurement at relatively high speeds, for example up to 28 m / s or higher, can be performed.
  • the triggering of the cameras Kt is synchronized with the illumination device and / or the flash device L t .
  • the contour or shape of a surface to be measured is determined, whereby the 3D geometry of the corresponding surface can be determined.
  • a tunnel profile or the curvature of a tunnel reveal can be determined.
  • the detailed texture of a 3D geometry can be determined metric with a device according to the invention photogram.
  • a device comprising a laser scanning device, the determination of the geometry, in particular of a tunnel construction, and the recording of the texture of a surface, in particular a tunnel lining, is simultaneously possible.
  • Fig. 1a shows an inventive device 10 in perspective, composed of individual segments e t and the two end segments eencL
  • Fig. 1 b shows such a device 10 with on the lateral surface M tot or to the
  • Fig. 1c also shows a said device 10, wherein the boards 12 are equipped with LED 13. All boards 12 with LEDs 13 on a single segment e t form the illumination device and / or flash device L j .
  • Fig. 2a shows the side view of a device 10 according to the invention with attached
  • FIG. 2 b shows a sectional view of such a device 10.
  • FIG. 3 a shows the perspective of a single segment e t with recesses 14.
  • Fig. 3b shows a single segment e t with attached boards 12 and a camera K t .
  • FIGS. 4a, 4b each show an end segment e end with a recess 14 ' , without and with
  • Fig. 5 shows an example of a schematic representation of an inventive
  • Device 10 with a laser scanning device 20 which is secured by means of support arm 30 to a vehicle 40.
  • the vehicle 40 moves in the direction of the arrow, with cameras K t image sections B t of the tunnels 50 are recorded.
  • a device 10 according to the invention is constructed from a plurality of substantially identical individual segments e t .
  • Each of the individual segments e t functions as a carrier for a high-speed camera K t and a lighting device and / or flash device Li.
  • This description is exemplary of a preferred embodiment of a device 10 according to the invention, but such is in no way limited thereto, ie, a single segment e may have a plurality of cameras and a plurality of illumination devices and / or flash devices in other embodiments.
  • the individual segments e are characterized by high stability and low weight. They are preferably made of plastic, but also composites such as fiberglass and carbon fiber and metals such as aluminum or aluminum alloys are conceivable.
  • An inexpensive method of producing a single segment e t is the 3 D printing process. Further possible production methods are casting or injection molding, laser sintering, machining processes or combinations thereof.
  • the individual segments e are designed such that a device 10 according to the invention is formed by stringing together a plurality of individual segments e.
  • the components can be screwed, glued, welded or connected to each other by means of clamping systems.
  • the device 10 according to the invention can thus be associated with a longitudinal axis z s .
  • a device 10 according to the invention can also be made of one piece, without individual segments e.
  • Each of the segments e t has substantially the shape of a circular cylinder, wherein at least a part of a circular cylinder sector is recessed.
  • the recess 14 is formed such that no area of the individual segment e itself in the opening angle of Camera or more precisely of the corresponding camera lens protrudes.
  • Each individual segment e t thus has a lateral surface M e , wherein the surface formed by the recess 14 is not part of the lateral surface M e .
  • a device 10 according to the invention has in its entirety a lateral surface M tot . In the case that such a device consists of one piece, this also has a lateral surface M ges .
  • a camera K t is mounted in a single segment e t such that the camera axis k t is congruent with the bisector of the missing part of the circular sector.
  • the cameras Kt are provided with a lens, but preferably with an adapted optics.
  • the focal plane of each camera lens or of each adapted optics lies on the longitudinal axis z s of the device according to the invention.
  • the longitudinal axis z s lies on each focal plane of the corresponding camera lenses, the axis of rotation of the focal planes of the individual camera lenses being formed by the longitudinal axis z s .
  • end segments e end are provided immediately at the two ends of a device 10 according to the invention. They differ from the individual segments e t in such a way that they do not have a receptacle for a camera. Rather, the end segments e end a smaller, similar recess 14 ' , which serves for fastening a lighting device and / or flash device.
  • an end segment e end preferably has handles or hand hangers, whereby the transportation and the safe parking of a device 10 according to the invention is made possible.
  • the individual segments e t are relative to each other by an angle a i i + 1 for ie (1, 1 ⁇ twisted together. Accordingly, the camera axes k t of the individual cameras K t are also at the same angle a i i + 1 for ie (1, - 1 ⁇ twisted each other.
  • the lateral surface M e of a single segment e is equipped with at least one illumination device and / or flash device L j .
  • the lateral surface M e of a single segment e is equipped with specially made boards 12, comprising a plurality of LEDs 13, substantially nationwide.
  • the entire lateral surface M ges with said boards 12, comprising a plurality of LEDs 13, is equipped.
  • the individual segments e and the end segments e end are provided with receptacles for said boards 12 in the region of the lateral surface M e .
  • the receptacles are preferably formed by pocket or groove-shaped recesses with clamping elements, so that the boards can be fixed by means of clamping or snap connections on the lateral surface M e of the individual segments and end segments or on the lateral surface M tot of the device according to the invention.
  • the boards 12 can be secured by screw or adhesive joints on the lateral surface.
  • a device 10 according to the invention is fastened by means of support arm 30 to a vehicle or measuring vehicle or to a trailer 40.
  • a vehicle may be for example a car or a train.
  • a device according to the invention can in principle be attached to any means of transport which is suitable in terms of load capacity and strength.
  • a device may be mounted on a boat or a ship, for example.
  • the attachment of a laser scanning unit 20 may be provided.
  • a support arm 30 makes it possible to mount a device 10 according to the invention and / or a laser scanning device 20 at a certain distance from the corresponding vehicle 40, so that a 360 ° recording is possible without receiving the vehicle 40 itself or parts of the vehicle 40.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un dispositif (10) servant à mesurer des surfaces (50), en particulier des intrados de tunnel, comprenant des caméras (Ki) (i = 1,..., n), chaque caméra (Ki) présentant un axe de caméra (Ki), les caméras étant disposées fixement autour d'un axe longitudinal (zs) du dispositif et les axes de caméra (Ki) étant tournés l'un par rapport à l'autre d'un angle (αi,i+1). L'invention concerne en outre un procédé de mesure géométrique ou de détermination de la texture de surfaces (50), en particulier d'intrados de tunnels au moyen d'un dispositif (10) selon l'invention.
PCT/AT2019/060135 2018-04-20 2019-04-18 Procédé et dispositif de détection de surfaces Ceased WO2019200422A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50336/2018 2018-04-20
AT503362018A AT521199A1 (de) 2018-04-20 2018-04-20 Vorrichtung und verfahren zur erfassung von oberflächen

Publications (1)

Publication Number Publication Date
WO2019200422A1 true WO2019200422A1 (fr) 2019-10-24

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Family Applications (1)

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PCT/AT2019/060135 Ceased WO2019200422A1 (fr) 2018-04-20 2019-04-18 Procédé et dispositif de détection de surfaces

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AT (1) AT521199A1 (fr)
WO (1) WO2019200422A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112325935A (zh) * 2020-10-30 2021-02-05 湖北省水利水电规划勘测设计院 一种深埋隧洞的安全性能监测系统

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19513116A1 (de) 1995-04-07 1996-10-10 Misoph Rotraud Verfahren zum berührungsfreien Vermessen von Tunnelprofilen oder Straßenoberflächen
KR20030043897A (ko) * 2003-05-16 2003-06-02 모악개발 주식회사 관로용 다중 분할 촬영장치 및 이를 이용한 관로 내부의화상 인출방법
US20050126316A1 (en) * 2002-03-12 2005-06-16 Thomas Richter Segment of a sensor-supporting element for a scraper-type device
DE102005012107A1 (de) 2005-03-09 2006-09-21 Angermeier Ingenieure Gmbh Meßsystem und Verfahren zur geodätischen Vermessung von Objekten
US20100260380A1 (en) * 2007-10-23 2010-10-14 Zumbach Electronic Ag Device for optically measuring and/or testing oblong products
US20120092149A1 (en) * 2009-05-13 2012-04-19 Kabushiki Kaisha Bridgestone Tire inspection apparatus
CN102721365A (zh) 2012-06-01 2012-10-10 北京交通大学 隧道断面高速精确测量方法及装置
GB2497517A (en) * 2011-12-06 2013-06-19 Toshiba Res Europ Ltd Reconstructing 3d surfaces using point clouds derived from overlapping camera images
CN204575071U (zh) * 2015-05-04 2015-08-19 成都唐源电气有限责任公司 隧道全景拍摄设备
CN106647148A (zh) * 2017-01-25 2017-05-10 成都中信华瑞科技有限公司 一种获取全景图像的装置及其组装方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104079918A (zh) * 2014-07-22 2014-10-01 北京蚁视科技有限公司 全景三维摄像装置

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19513116A1 (de) 1995-04-07 1996-10-10 Misoph Rotraud Verfahren zum berührungsfreien Vermessen von Tunnelprofilen oder Straßenoberflächen
US20050126316A1 (en) * 2002-03-12 2005-06-16 Thomas Richter Segment of a sensor-supporting element for a scraper-type device
KR20030043897A (ko) * 2003-05-16 2003-06-02 모악개발 주식회사 관로용 다중 분할 촬영장치 및 이를 이용한 관로 내부의화상 인출방법
DE102005012107A1 (de) 2005-03-09 2006-09-21 Angermeier Ingenieure Gmbh Meßsystem und Verfahren zur geodätischen Vermessung von Objekten
US20100260380A1 (en) * 2007-10-23 2010-10-14 Zumbach Electronic Ag Device for optically measuring and/or testing oblong products
US20120092149A1 (en) * 2009-05-13 2012-04-19 Kabushiki Kaisha Bridgestone Tire inspection apparatus
GB2497517A (en) * 2011-12-06 2013-06-19 Toshiba Res Europ Ltd Reconstructing 3d surfaces using point clouds derived from overlapping camera images
CN102721365A (zh) 2012-06-01 2012-10-10 北京交通大学 隧道断面高速精确测量方法及装置
CN102721365B (zh) * 2012-06-01 2015-04-15 北京交通大学 隧道断面高速精确测量方法及装置
CN204575071U (zh) * 2015-05-04 2015-08-19 成都唐源电气有限责任公司 隧道全景拍摄设备
CN106647148A (zh) * 2017-01-25 2017-05-10 成都中信华瑞科技有限公司 一种获取全景图像的装置及其组装方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112325935A (zh) * 2020-10-30 2021-02-05 湖北省水利水电规划勘测设计院 一种深埋隧洞的安全性能监测系统

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