DE20000243U1

DE20000243U1 - Arrangement for automatic, camera-guided docking by means of cooperative target marks, especially in the case of sunlight outdoors

Info

Publication number: DE20000243U1
Application number: DE20000243U
Authority: DE
Original assignee: Sensor Control Automatisc GmbH
Current assignee: Sensor Control Automatisc GmbH
Priority date: 2000-01-11
Filing date: 2000-01-11
Publication date: 2000-08-17
Anticipated expiration: 2010-01-12

Description

OptiMaster - Inspektionssysteme zur QualitätssicherungOptiMaster - inspection systems for quality assurance

Gebrauchsmusteranmeldung vom 11.01.2000Utility model application dated 11.01.2000

Anordnung zum automatischen, kamerageführten Andocken mittels kooperativer Zielmarken insbesondere bei Sonnenlicht im Freien.Arrangement for automatic, camera-guided docking using cooperative targets, especially in sunlight outdoors.

BeschreibungDescription

Die erfindungsgemäße Anordnung dient dazu, dynamische Andockvorgänge, die durch eine Kamera geführt, die im Freien, also bei jeder Witterung insbesondere bei Sonnenlicht und Niederschlägen, Tag und Nacht stattfinden müssen, dadurch betriebssicher und zugestalten, dass die Kamera bei allen äußeren Beleuchtungszuständen als einziges die kooperativen Zielmarken sieht und dadurch der reduzierte Bildverarbeitungsrechenaufwand höhere Zielerfassungsraten erlaubt. Dies ist eine Notwendigkeit zur Erfassung von Zielen, wenn sich der Manipulator und das Ziel relativ zueinander gesteuert werden sollen.The arrangement according to the invention serves to make dynamic docking processes, which are carried out by a camera and have to take place outdoors, i.e. in all weather conditions, particularly in sunlight and precipitation, day and night, reliable and efficient in that the camera is the only one to see the cooperative target marks in all external lighting conditions and the reduced image processing computational effort thus allows higher target detection rates. This is a necessity for detecting targets if the manipulator and the target are to be controlled relative to one another.

Die beschriebene Anordnung löst insbesondere das Problem, dass das Sonnenlicht mit ca. 1 KW Lichtleistung/m durch Schlagschatten ein bekanntes Ziel für die Bildverarbeitung jeweils anders aussehen läßt, was die Zielidentifizierung äußerst schwierig und rechenintensiv macht.The described arrangement solves in particular the problem that sunlight with approx. 1 KW light output/m causes a known target to look different for image processing due to cast shadows, which makes target identification extremely difficult and computationally intensive.

Die Lösung liegt darin, dass in Verbindung mit schmalspektraler und ultrakurzer Blitzbeleuchtung mit niedrigen, mittleren Lichtleistungen, synchron mit ultrakurzen Kameraverschlußzeiten gearbeitet wird, wobei die Kamera durch Interferenzfilter nur im Lichtband der schmalspektralen Blitzbeleuchtung empfindlich ist.The solution is to work in conjunction with narrow-spectral and ultra-short flash lighting with low, medium light outputs, synchronously with ultra-short camera shutter speeds, whereby the camera is only sensitive in the light band of the narrow-spectral flash lighting due to interference filters.

Durch Reflektoren mit vorgeschalteten, optischen Schmalbandfiltern entstehen kooperative, passive Ziele, die die Objektfindung bis zum Andockvorgang betriebssicher machen, da die Kamera anschließend diese Ziele detektiert.Reflectors with upstream narrow-band optical filters create cooperative, passive targets that make object detection reliable until the docking process, since the camera then detects these targets.

Fig. 1 zeigt die grundsätzliche Aufgabe einen Manipulatorarm (1) mit beweglichem Andockkopf (2) und frontseitiger Kupplungsöffnung (7) an das Kupplungselement (6) des anzudockenden Gegenstandes (4) heranzuführen. Dies geschieht wie in Fig. 2 gezeigt, erfindungsgemäß mit einer Kamera (15), die durch die Andocköffnung (7) konzentrisch hindurch schaut und im Fernbereich primär die kooperativen Zielmarken (5) erfaßt.Fig. 1 shows the basic task of bringing a manipulator arm (1) with a movable docking head (2) and a front coupling opening (7) to the coupling element (6) of the object (4) to be docked. This is done, as shown in Fig. 2, according to the invention with a camera (15) that looks concentrically through the docking opening (7) and primarily detects the cooperative target marks (5) in the long range.

Fig. 2 zeigt, dass Im Nahbereich, kurz vor dem Andocken die Kamera (15) nur noch die Zielmarke (18) im Andockelement (6) erfaßt und ermöglicht so die Feinansteuerung des Andockelementes in die Kupplungsöffnung (7). Die Zangenelemente (14) verriegeln den eingekuppelten Zustand.Fig. 2 shows that in the close range, shortly before docking, the camera (15) only detects the target mark (18) in the docking element (6) and thus enables the docking element to be finely controlled in the coupling opening (7). The clamp elements (14) lock the coupled state.

Die Zielmarke (5) wie auch die zentrische Zielmarke (18) sind kooperativ d.h. sie arbeiten durch vorgeschaltete Interferenzfilter vor den Reflektorelementen auf der gleichen schmalspektralen, optischen Wellenlänge, wie die Ultrakurz-Blitzbeleuchtungen in Form der Blitze (10) für den weiteren Bereich. Auf der gleichen Wellenlänge arbeitet auch die Blitzbeleuchtung (9), die über den halbdurchlässigen Spiegel (8) konzentrisch zur Objektivachse (12) der Kamera (15) wirkt.The target mark (5) and the centric target mark (18) are cooperative, i.e. they work on the same narrow spectral optical wavelength as the ultra-short flash illumination in the form of the flashes (10) for the wider area, thanks to interference filters placed in front of the reflector elements. The flash illumination (9) also works on the same wavelength and acts concentrically to the lens axis (12) of the camera (15) via the semi-transparent mirror (8).

Anwendungen für diese Anordnungen sind: Automatisches Andocken von Manipulatoren und Kränen an Lasten, Andocken an die Radachsen für Hubschrauber-Verbringungsmanipulatoren auf Schiffen, automatische Betankung in der Luft, automatische Andockvorgänge an Satelliten- und Raumstationen.Applications for these arrangements include: automatic docking of manipulators and cranes to loads, docking to the wheel axles for helicopter transfer manipulators on ships, automatic refueling in the air, automatic docking to satellites and space stations.

SensorDeutsches PatentamtiMufiehenSensorGerman Patent OfficeiMufiehen

Claims

1. Arrangement according to Fig. 1 and Fig. 2 for the automatic approach and docking of two detachable objects ( 2 , 4 ) or elements with target finding and target tracking by means of a camera ( 15 ) and downstream image processing, in particular outdoors in changing light and weather conditions, characterized in that by narrow-spectral, ultra-short flash illumination ( 9 , 10 ) on reflective, clear target marks ( 5 , 18 ) in conjunction with ultra-short, synchronous camera shutter times and a narrow-spectral filter ( 11 ) in front of the camera, the effect of changing light conditions is eliminated by the high-energy sunlight being outshone several times in a narrow frequency band for the ultra-short shutter and flash time.

2. Arrangement according to claim 1, characterized in that the camera ( 15 ) is an electronic video or single image camera suitable for image processing with ultra-short electronic shutter times, preferably between 100...1 µs, the shutter being opened synchronously with the flash ( 10 , 9 ).

3. Arrangement according to claim 1, characterized in that the camera ( 15 ) is tuned to the light band of a narrow-spectral ultra-short flash illumination ( 9 and 10 ) by a narrow-spectral filter ( 11 ), in particular an interference filter.

4. Arrangement according to claim 1, characterized in that laser diodes or ultra-bright light-emitting diodes LEDs are used for the ultra-short flash illumination ( 9 and 10 ), which operate in the visible or near-infrared range.

5. Arrangement according to claim 1, characterized in that triple prisms, microprisms or reflector marks based on glass beads are used as reflector target marks ( 5 , 18 ).

6. Arrangement according to claim 1, characterized in that a narrow-band filter or an interference filter ( 16 ) is mounted in front of the reflector marks ( 5 , 18 ) in front of the light-reflecting surface ( 17 ), which is tuned to the wavelength of narrow-band flash illumination and narrow-band filter in front of the camera.

7. Arrangement according to claim 1 and 6, characterized in that the central target mark ( 18 ) differs slightly in wavelength from the orientation of the target mark ( 5 ), so that the latter can be clearly distinguished by the camera ( 15 ) by difference in brightness.

8. Arrangement according to claim 1, 6, 7, characterized in that the flash illumination operates with two differently switchable wavelengths, e.g. 880 and 950 nm, so that the target marks ( 5 ) and ( 18 ) can be distinguished by comparing the image brightness.

9. Arrangement according to claim 1, characterized in that the orientation target mark 5 enables a rough calculation of the distance and position of the docking target due to their spacing and their arrangement relative to one another. For example, a circular arrangement of the diameter and aspect angle of the target marks provides this information.

10. Arrangement according to claim 1, characterized in that the reflector target marks ( 5 ) are not arranged in a plane but at a defined, regular inclination, e.g. on a cone, as shown in Fig. 1, so that some target marks are always inclined towards the camera and the target search is possible at a larger angle.

11. Arrangement according to claim 1, characterized in that the reflector target mark ( 18 ) for the close range is shaped differently than the locating target mark ( 5 ).

12. Arrangement according to claim 1, characterized in that for docking in the close range a concentric flash illumination ( 9 ) operates via a semi-transparent mirror ( 8 ) concentrically to the camera lens ( 12 ) and this camera looks concentrically through the opening of the coupling element onto the docking target mark ( 18 ).

13. Arrangement according to claim 1 and 6, characterized in that the interference filters in front of the reflector targets make them invisible to devices operating on other wavelengths.

14. Arrangement according to claim 1, characterized in that the ultra-short flash illumination ( 9 , 10 ) in conjunction with synchronous shutter control and cooperative reflector target marks reduces the target information to a few image elements, which enables high image processing rates.

15. Arrangement according to claim 1, characterized by the application for docking a manipulator to a helicopter landed on a ship for transport into the hangar.