3D Commercial Metrological Systems FIG Working Week … · Augmentation of Total Stations by CCD...
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1 Accelerators and Beam Physics Group European Organization for Nuclear Research 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. European Organization for Nuclear Research, CERN Geneva, Switzerland Accelerators and Beam Physics Group European Organization for Nuclear Research A Very Short Overview of 3D Commercial Metrological Systems 2 Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision Metrology FIG Working Week 2012
Transcript of 3D Commercial Metrological Systems FIG Working Week … · Augmentation of Total Stations by CCD...
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
QDaedalus
Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision Metrology
Sébastien Guillaume1, Beat Bürki1, Sylvain Griffet2, Hélène Mainaud-Durand2
1. Institut für Geodäsie und Photogrammetrie, ETH Zurich, Switzerland2. European Organization for Nuclear Research, CERN Geneva, Switzerland
Accelerators and Beam Physics Group
European Organization for Nuclear Research
A Very Short Overview of
3D Commercial
Metrological Systems
2Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
CMM: CoordinatesMeasurement Machine
3Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
@ Leitz @ Romer
σ < 1 μm/m range < 1-2 m σ ~ 10 μm/m range < 5 m
Measurement Arm
Accelerators and Beam Physics Group
European Organization for Nuclear Research
4Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
@ Leica Geosystems @ Leica Geosystems
σ ~ 7.5+3 μm/m range < 100 m σ ~ 7.5+3 μm/m range ~ 150 m
Laser Tracker withAbsolute EDM
Laser Tracker withInterferometer
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
5Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
@ Aicon @ Leica Geosystems
σ ~ 15 μm/m range < 50 m σ ~ 1 mm range ~ 100 m
Close-RangePhotogrammetry
Laser Scanner
Accelerators and Beam Physics Group
European Organization for Nuclear Research
The Measurement System
QDaedalus
6Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
7Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
QDaedalus
High Precise : < 10 μm/m
Touchless
Fully Automated
High Rate Measurements : 30 Hz
Low-cost
Open & Flexible Software
Accelerators and Beam Physics Group
European Organization for Nuclear Research
8Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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)
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
9Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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)
• 1024 x 768 pixel (4.65 x 4.65 μm)
• Fire Wire connection (30 fps)
• External Trigger
• Black and White 1 pixel = 4 arcsec
Accelerators and Beam Physics Group
European Organization for Nuclear Research
10Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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)
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
11Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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)
Accelerators and Beam Physics Group
European Organization for Nuclear Research
CCD-Space Theodolite-Space
Calibration
12Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
13Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Calibration
δrδz
pointobject
Accelerators and Beam Physics Group
European Organization for Nuclear Research
14Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Calibration
telescopereadings
calculated Hz and Vcorrections
objectangles
Affine Transformation (6 parameters)
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
15Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Calibration
Accelerators and Beam Physics Group
European Organization for Nuclear Research
Identification & Extraction of Objects
Optical Target Recognition
16Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
17Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
OTR: Least-Squares Template Matching
precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m
Accelerators and Beam Physics Group
European Organization for Nuclear Research
18Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
OTR: Centroid Operator
precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
19Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
OTR: Robust Circle Matching Operator
precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m
Accelerators and Beam Physics Group
European Organization for Nuclear Research
20Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
OTR: Robust Ellipse Matching Operator
precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
21Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
OTR: Robust Ellipse Matching Operator
precision < 0.1 pixel = 0.4 arcsec = 2.5 μm/m
Accelerators and Beam Physics Group
European Organization for Nuclear Research
Practical Experiment of QDaealus at CERN
Automatic Microtriangulation
of Linear Collider Components
22Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
23Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Future = electron-positron Linear Collider
Accelerators and Beam Physics Group
European Organization for Nuclear Research
24Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Future = electron-positron Linear Collider
more than 20 000 modules in total to be measured !
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
25Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
26Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
27Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
28Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
29Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
30Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
31Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
32Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
33Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
34Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
35Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
36Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
1. Import approximate positions of station and targets
2. Camera, focus, circle matching parameters… definition
3. Start measurements, fully automatic process
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
37Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
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
QDaedalus System
QDaedalus System
Illuminated Ceramic Spheres
Accelerators and Beam Physics Group
European Organization for Nuclear Research
38Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
39Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
Accelerators and Beam Physics Group
European Organization for Nuclear Research
40Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
41Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
empirical σhz = σzen = 0.5 arcsec = 1.5 cc
TDA 5005 spec = σhz = σzen = 1.5 cc
Accelerators and Beam Physics Group
European Organization for Nuclear Research
42Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
Empirical standard deviation and differences with respect to the Coordinates MeasurementMachine (CMM σ = 1μm) of the points measured with the system QDaedalus.
sX sY sZ dX dY dZ d3D
[microns] [microns] [microns] [microns] [microns] [microns] [microns]
MC1-M3 5 6 9 -3 -2 1 4
MC1-M4 5 4 7 8 -6 7 12
MC1-M5 4 3 6 1 -5 -10 11
MC1-M6 4 4 5 -11 9 -5 15
MC1-M7 4 5 4 2 7 4 8
MC1-M8 4 6 3 3 -3 3 5
MC2-M3 3 5 4 1 8 2 9
MC2-M4 3 4 4 5 16 0 17
MC2-M5 4 3 6 0 8 -7 11
MC2-M6 4 3 5 -5 -2 4 7
MC2-M7 5 5 8 -8 -8 -4 12
MC2-M9 6 11 10 7 -23 6 24
Empirical Standard Deviation Differences with Coordinate Measurement Machine
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
Oscillation of a Bridge after Passage of a Truck
Kinematic Measurements with
QDaedalus
43Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Measurements carried out by HEIG-VD
Accelerators and Beam Physics Group
European Organization for Nuclear Research
44Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Kinematic Measurements
@ HEIG-VD
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
45Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Kinematic Measurements
Accelerators and Beam Physics Group
European Organization for Nuclear Research
46Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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 patternmatching
• enables accurate time tagging of the observations
• enables real-time dynamic monitoring of displacements, vibrations, andscintillations
• 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
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
47Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Thanks for attention
www.ggl.ethz.ch
Accelerators and Beam Physics Group
European Organization for Nuclear Research
48Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
49Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Automatic Microtriangulation
Accelerators and Beam Physics Group
European Organization for Nuclear Research
50Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Removing the eyepiece and mounting a CCD camera evokes optical blur
Meas. Range = 1.5 to 13 m
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
51Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Mounting a divergent lens in front of the objective
Meas. Range = 2 m to ∞
Accelerators and Beam Physics Group
European Organization for Nuclear Research
52Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
53Augmentation of Total Stations by CCD Sensor for Automated Contactless High-Precision MetrologyFIG Working Week 2012
Accelerators and Beam Physics Group
European Organization for Nuclear Research
11 cm
6 cm
External box for GPS receiver, power input, and Interface cable connections
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
Accelerators and Beam Physics Group
European Organization for Nuclear Research
29
Accelerators and Beam Physics Group
European Organization for Nuclear Research
Accelerators and Beam Physics Group
European Organization for Nuclear Research
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Accelerators and Beam Physics Group
European Organization for Nuclear Research
Evolution of the refraction coefficient during 16 hours across Elbe Riverκ
Accelerators and Beam Physics Group
European Organization for Nuclear Research
Variations of ΔH during 16 hours across Elbe River due to Refraction
