DIMENSIONAL MEASUREMENT THROUGH A COMBINATION OF PHOTOGRAMMETRY AND OPTICAL SCATTERING

• US 20120050528A1
• Filed: 05/31/2011
• Published: 03/01/2012
• Est. Priority Date: 05/31/2010
• Status: Active Grant

• Current Assignee: University of North Carolina At Charlotte (University of North Carolina System)
• Original Assignee: University of North Carolina At Charlotte (University of North Carolina System)
• Inventors: Davies, Angela Devon, Mullany, Brigid Ann, Morse, Edward Phillip, Davies, Matthew Alan
• Granted Patent: US 9,151,607 B2
• Time in Patent Office: Days
• US Class Current: 348/136
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A system for determining the position and location of a module comprising: a module which includes an optical generator which generates an optical beam; a diffractive element placed in the path of the optical beam which generates an optical pattern; a reference length artifact placed in a location with close proximity to the optical pattern; and a plurality of digital cameras connected to a computer with photogrammetry software and a minimization algorithm installed on the computer; where the digital cameras are set up in different locations to take one or more digital images of the optical pattern, with at least one digital image including the reference length artifact; and where the digital images are downloaded onto the computer and processed by the photogrammetry software to generate optical coordinate data followed by the insertion of the optical coordinate data into the minimization algorithm to generate the position and location of the module.

Claims

1. A system for determining the position and location of a module comprising:

a module which includes;

an optical generator which generates an optical beam; and

a diffractive element placed in the path of said optical beam which generates an optical pattern;

a reference length artifact placed in a location with close proximity to said optical pattern; and

a plurality of digital cameras connected to a computer with photogrammetry software and a minimization algorithm installed on said computer;

said digital cameras being set up in different locations to take one or more digital image of said optical pattern, with at least one image including said reference length artifact;

where said digital images are downloaded onto said computer and processed by said photogrammetry software to generate optical coordinate data followed by the insertion of said optical coordinate data into the minimization algorithm to generate the position and location of said module.

2. The system of claim 1 wherein said optical generator is capable of generating light selected from the group comprising:

visible light, ultraviolet light, infrared light, or a combination thereof.

3. The system of claim 2 wherein said optical generator being a laser.

4. The system of claim 1 wherein said diffractive element generates an optical pattern comprising a plurality of dots.

5. The system of claim 4 wherein said optical pattern is comprised of 4 or more dots.

6. The system of claim 1 wherein 3 or more digital cameras are used to simultaneously capture digital images of said optical pattern and wherein said digital cameras possess a pixel count of at least 3 million.

7. The system of claim 1 wherein said minimization algorithm is a chi-square minimization algorithm operating in a MATLAB environment.

8. The system of claim 1 further including one or more additional modules which include an additional optical generator which generates an additional optical beam and an additional diffractive element placed in the path of said additional optical beam which generates an additional optical pattern.

9. A method for determining the position and location of a module comprising the steps of:

attaching a module to an object, said module includes;

an optical generator which generates an optical beam; and

a diffractive element placed in the path of said optical beam which generates optical pattern beams and an optical pattern on one or more surfaces;

placing a reference length artifact in a location with close proximity of said optical pattern;

activating said module and generating an optical pattern on one or more surfaces;

generating one or more digital images of said optical pattern with a plurality of digital cameras connected to a computer having photogrammetry software and a minimization algorithm installed on said computer;

said digital cameras being set up in different locations to take one or more digital image of said optical pattern, with at least one digital image including said reference length artifact;

downloading said digital images onto said computer;

processing said digital images with said photogrammetry software to generate optical coordinate data; and

inserting said optical coordinate data into said minimization algorithm to generate the position and location of said module.

10. The method of claim 9 wherein said optical generator is capable of generating light selected from the group comprising:

visible light, ultraviolet light, infrared light, or a combination thereof.

11. The method of claim 10 wherein said optical generator being a laser.

12. The method of claim 9 wherein said object is selected from the group comprising:

a robotic arm, a part in a manufacturing environment, an object whose position and orientation is desired, or a combination thereof.

13. The method of claim 9 wherein said diffractive element generates an optical pattern comprising a plurality of dots.

14. The method of claim 13 wherein said optical pattern is comprised of 4 or more dots.

15. The method of claim 9 wherein 3 or more digital cameras are used to simultaneously capture digital images of said optical pattern and wherein said digital cameras possess a pixel count of at least 3 million.

16. The method of claim 9 wherein said minimization algorithm is a chi-square minimization algorithm operating in a MATLAB environment.

17. The method of claim 9 further comprising the step of attaching one or more additional modules onto the same object or a second object;

said additional module includes an additional optical generator which generates an additional optical beam and an additional diffractive element placed in the path of said additional optical beam which generates an additional optical pattern;

activating said additional module and generating an additional optical pattern on one or more surfaces;

generating one or more digital images of said additional optical pattern with a plurality of digital cameras connected to a computer having photogrammetry software and a minimization algorithm installed on said computer;

said digital cameras being set up in different locations to take one or more digital image of said additional optical pattern, with at least one digital image including said reference length artifact;

downloading said digital images onto said computer;

processing said digital images with said photogrammetry software to generate optical coordinate data; and

inserting said optical coordinate data into said minimization algorithm to generate the position and location of said additional module.

18. A method for determining the position and location of a module comprising the steps of:

attaching a module to an object, said module includes;

an optical generator which generates an optical beam, said optical generator being a laser and said optical beam being a laser beam; and

a diffractive element placed in the path of said optical beam which generates optical pattern beams and an optical pattern on one or more surfaces, said optical pattern being comprised of 4 or more dots;

placing a reference length artifact in a location with close proximity of said optical pattern;

activating said module and generating an optical pattern on one or more surfaces;

generating one or more digital images of said optical pattern with a plurality of digital cameras connected to a computer having photogrammetry software and a minimization algorithm installed on said computer, said minimization algorithm being a chi-square minimization algorithm operating in a MATLAB environment;

said digital cameras being set up in different locations to take one or more digital image of said optical pattern simultaneously, with at least one image including said reference length artifact;

downloading said digital images onto said computer;

processing said digital images with said photogrammetry software to generate optical coordinate data; and

inserting said optical coordinate data into said minimization algorithm to generate the position and location of said module.

19. The method of claim 18 wherein said object is selected from the group comprising:

a robotic arm, a part in a manufacturing environment, an object whose position and orientation is desired, or a combination thereof.

20. The method of claim 18 wherein 3 or more digital cameras are used to simultaneously capture digital images of said optical pattern and wherein said digital cameras possess a pixel count of at least 3 million.