3D Commercial Metrological Systems

Transcription

1 QDaedalus Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision Metrology Sébastien Guillaume 1, Beat Bürki 1, Sylvain Griffet 2, Hélène Mainaud-Durand 2 1. Institut für Geodäsie und Photogrammetrie, ETH Zurich, Switzerland 2., CERN Geneva, Switzerland A Very Short Overview of 3D Commercial Metrological Systems 2 1

2 CMM: Coordinates Measurement Machine Measurement Arm σ < 1 μm/m range < 1-2 m σ ~ 10 μm/m range < 5 Romer 3 Laser Tracker with Absolute EDM Laser Tracker with Interferometer σ ~ μm/m range < 100 m σ ~ μm/m range ~ 150 Leica Leica Geosystems 4 2

3 Close-Range Photogrammetry Laser Scanner σ ~ 15 μm/m range < 50 m σ ~ 1 mm range ~ 100 Leica Geosystems 5 The Measurement System QDaedalus 6 3

4 QDaedalus High Precise : < 10 μm/m Touchless Fully Automated High Rate Measurements : 30 Hz Low-cost Open & Flexible Software 7 QDaedalus: System Components Main Components Total Station CCD Sensor Focusing Mechanics Software (Qt c++) Additional Components Front Lens (for long range obs. > 13 m) Interface box (CCD Triggering synchronization of multiple system) External GPS Receiver (for Absolute CCD Timing) 8 4

5 QDaedalus: System Components Main Components Total Station CCD Sensor Focusing Mechanics Software (Qt c++) 1024 x 768 pixel (4.65 x 4.65 μm) Fire Wire connection (30 fps) External Trigger Black and White 1 pixel = 4 arcsec Additional Components Front Lens (for long range obs. > 13 m) Interface box (CCD Triggering synchronization of multiple system) External GPS Receiver (for Absolute CCD Timing) 9 QDaedalus: System Components Main Components Total Station CCD Sensor Focusing Mechanics Software (Qt c++) Additional Components Front Lens (for long range obs. > 13 m) Interface box (CCD Triggering synchronization of multiple system) External GPS Receiver (for Absolute CCD Timing) 10 5

6 QDaedalus: System Components Main Components Total Station CCD Sensor Focusing Mechanics Software (Qt c++) Additional Components Front Lens (for long range obs. > 13 m) Interface box (CCD Triggering synchronization of multiple system) External GPS Receiver (for Absolute CCD Timing) 11 CCD-Space Theodolite-Space Calibration 12 6

7 Calibration δz δr object point 13 Calibration Affine Transformation (6 parameters) object angles telescope readings calculated Hz and V corrections 14 7

8 Calibration 15 Identification & Extraction of Objects Optical Target Recognition 16 8

9 OTR: Least-Squares Template Matching precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m 17 OTR: Centroid Operator precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m 18 9

10 OTR: Robust Circle Matching Operator precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m 19 OTR: Robust Ellipse Matching Operator precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m 20 10

11 OTR: Robust Ellipse Matching Operator precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m 21 Practical Experiment of QDaealus at CERN of Linear Collider Components 22 11

12 Future = electron-positron Linear Collider 23 Future = electron-positron Linear Collider more than modules in total to be measured! 24 12

13 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 26 13

14 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 28 14

15 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 30 15

16 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 32 16

17 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 34 17

18 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process Illuminated Ceramic Spheres 36 18

19 1. Import approximate positions of station and targets 2. Camera, focus, circle matching parameters definition 3. Start measurements, fully automatic process 4. Adjust micro-triangulation network Illuminated Ceramic Spheres

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21 empirical σ hz = σ zen = 0.5 arcsec = 1.5 cc TDA 5005 spec = σ hz = σ zen = 1.5 cc 41 Empirical standard deviation and differences with respect to the Coordinates Measurement Machine (CMM σ =1μm) of the points measured with the system QDaedalus. Empirical Standard Deviation Differences with Coordinate Measurement Machine sx sy sz dx dy dz d3d [microns] [microns] [microns] [microns] [microns] [microns] [microns] MC1-M MC1-M MC1-M MC1-M MC1-M MC1-M MC2-M MC2-M MC2-M MC2-M MC2-M MC2-M

22 Oscillation of a Bridge after Passage of a Truck Kinematic Measurements with QDaedalus Measurements carried out by HEIG-VD 43 Kinematic HEIG-VD 44 22

23 Kinematic Measurements 45 Summary and Conclusions The system QDaedalus can be mounted without mechanical changes at the Total Station enables Optical Target Recognition (OTR) using circle operator and pattern matching enables accurate time tagging of the observations enables real-time dynamic monitoring of displacements, vibrations, and scintillations enables tracking of moving objects with a frame rate of up to 30 Hz including time stamps is a versatile tool for numerous indoor and outdoor applications further object operators and other improvements are under development 46 23

24 Thanks for attention

25 49 Removing the eyepiece and mounting a CCD camera evokes optical blur Meas. Range = 1.5 to 13 m 50 25

26 Mounting a divergent lens in front of the objective Meas. Range = 2 m to

27 53 External box for GPS receiver, power input, and Interface cable connections 6 cm 11 cm 27

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30 Evolution of the refraction coefficient during 16 hours across κelbe River Variations of ΔH during 16 hours across Elbe River due to Refraction 30