Method and surveying system for noncontact coordinate measurement on an object surface

A surveying system for noncontact coordinate measurement on an object surface of an object to be surveyed in an object coordinate system, comprising:

• a 3D image recording unit:
• which is formed for electronic recording of a first three-dimensional image of a first area section of the object surface, the first three-dimensional image being composed of a multiplicity of first pixels with which in each case a piece of depth information is coordinated without use of a multiplicity of reference markings being determined;
• and
• electronically outputs the first 3D image coordinates which are coordinated with the first pixels in an image coordinate system;
• the 3D image recording unit including:
• a measuring apparatus:
• which can be coupled to the object coordinate system;
• and
• which is formed for determining a first position and first orientation of the 3D image recording unit in the object coordinate system, wherein the measuring apparatus is substantially decoupled from retaining forces which act during holding of the 3D image recording unit;
• a data processing unit:
• to which the first 3D image coordinates are fed from the 3D image recording unit and the first position and first orientation of the 3D image recording unit are fed from the measuring apparatus;
• which is formed in such a way that first 3D object coordinates in the object coordinate system are electronically coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the image recording unit;
• and
• which outputs a signal which contains the first 3D object coordinates coordinated with the first pixels;
• and
• an optical reference stereocamera measuring system:
• which is located remote from the measuring apparatus;
• which includes a 3D imaging unit with at least two optical 2D cameras arranged with a stereobasis in between the cameras, the 3D imaging unit being designed for determining the position and orientation of the measuring apparatus by digital image processing of images taken by the cameras;
• and
• which is referenced in the object coordinate system and has a signal link to the data processing unit for coupling the measuring apparatus to the object coordinate system.

A method for noncontact coordinate measurement to an object surface of an object to be surveyed in an object coordinate system, comprising:

• electronically recording a first three-dimensional image of a first area section of the object surface by means of a 3D image recording unit in a first position and first orientation, the first three-dimensional image being composed of a multiplicity of first pixels, with which in each case a piece of depth information is coordinated;
• coordinating first 3D image coordinates in an image coordinate system of the 3D image recording unit with the first pixels;
• determining the first position and first orientation of the 3D image recording unit in the object coordinate system by a measuring apparatus coupled to the object coordinate system;
• wherein the measuring apparatus is coupled to the object coordinate system by means of an optical reference stereocamera measuring system with at least two 2D cameras arranged with a stereobasin and located apart from the measuring apparatus;
• determining the position and orientation according to images from the cameras by digital image processing;
• and
• coordinating first 3D object coordinates in the object coordinate system with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the 3D image recording unit,
• wherein
• the measuring apparatus is in the form of an adjustable mechanical articulated 3D coordinate-measuring arm, comprising:
• a first end coupled in the object coordinate system,
• an opposite moveable measuring second end;
• a plurality of arm sections arranged between the first end and the second end, and pivotably and/or rotatably connected to one another by means of pivot joints in such a way that the moveable measuring second end is freely moveable within a first spatial section;
• and
• angle sensors which are coordinated with the pivot joints for determining the angle position of the respective pivot joint;
• the moveable measuring second end is coupled in a defined manner to the 3D image recording unit;
• the first position and first orientation of the 3D image recording unit in the object coordinate system are determined from the knowledge of the angle positions of the pivot joints and of the lengths of the arm sections;
• and
• the first end coupled in the object coordinate system:
• is coupled to a first ground anchor positioned in a first position for recording the first three-dimensional image of the first area section by the 3D image recording unit whose first position and first orientation is determined within the first spatial section;
• and
• is coupled to a second ground anchor positioned in a second position for recording at least one further three-dimensional image of at least one further area section by the 3D image recording unit in at least one further position and further orientation within a second spatial section.

A surveying system for noncontact coordinate measurement on an object surface of an object to be surveyed in an object coordinate system, comprising:

• a 3D image recording unit:
• which is formed for electronic recording of a first three-dimensional image of a first area section of the object surface, the first three-dimensional image being composed of a multiplicity of first pixels with which in each case a piece of depth information is coordinated;
• and
• electronically outputs the first 3D image coordinates which are coordinated with the first pixels in an image coordinate system;
• the 3D image recording unit including:
• a measuring apparatus:
• which can be coupled to the object coordinate system;
• and
• which is formed for determining a first position and first orientation of the 3D image recording unit in the object coordinate system;
• wherein the measuring apparatus is in the form of an adjustable mechanical adjustable mechanical articulated 3D coordinate-measuring arm, comprising:
• a first end which can be coupled in the object coordinate system, an opposite moveable measuring second end,
• a plurality of arm sections arranged between the first end and the second end, and pivotably and/or rotatably connected to one another by means of pivot joints in such a way that the moveable measuring second end is freely moveable within a first spatial section, and
• angle sensors which are coordinated with the pivot joints for determining the angle position of the respective pivot joint, the moveable measuring second end being coupled in a defined manner to the 3D image recording unit and the articulated 3D coordinate-measuring arm being formed in such a way that the first position and first orientation of the 3D image recording unit in the object coordinate system can be determined from the knowledge of the angle positions of the pivot joints and the lengths of the arm sections;
• an optical reference laser measuring system which is referenced in the object coordinate system;
• and
• a data processing unit:
• to which the first 3D image coordinates are fed from the 3D image recording unit and the first position and first orientation of the 3D image
• recording unit are fed from the measuring apparatus;
• which has a link to the data processing unit for coupling the first end to the object coordinate system;
• which is formed in such a way that first 3D object coordinates in the object coordinate system are electronically coordinated with the first pixels from the knowledge of the first 3D image coordinates and of the first position and first orientation of the image recording unit;
• and
• which outputs a signal which contains the first 3D object coordinates coordinated with the first pixels;
• and
• an optical reference stereocamera measuring system:
• which is located remote from the measuring apparatus;
• which includes a 3D imaging unit with at least two optical 2D cameras arranged with a stereobasis in between the cameras, the 3D imaging unit being designed for determining the position and orientation of the measuring apparatus by digital image processing of images taken by the cameras;
• and
• which is referenced in the object coordinate system and has a signal link to the data processing unit for coupling the measuring apparatus to the object coordinate system.