DE102015213557A1 - Method and system for creating a three-dimensional model of a production environment - Google Patents

Abstract

The invention describes a method for creating a three-dimensional model of a production environment (1) with a number of production resources (2, 3, 4). In a step a), a one or more sampling of the production environment (1) is carried out with a laser scanner (5), with each sampling a discrete set of three-dimensionally distributed sampling points of the production environment (1) is determined. In a step b), a mobile pointing element (7) is arranged in the production environment (1), the pointing element (7) being associated with a specific position (10) in the production environment (1) provided by the laser scanner (5) a further scan indirectly via the detection of the pointing element (7) can be detected. Finally, in a step c), a surface geometry of the production environment (1) is determined from the discrete set of three-dimensionally distributed sampling points and information associated with the determined position (10), the information associated with the determined position (10) comprising at least geometry data of the determined position (10). 10).

Description

The invention relates to a method for creating a three-dimensional model of a production environment with a number of production resources. The invention further relates to a laser scanner, a mobile pointing element and a system for creating a three-dimensional model comprising a laser scanner according to the invention and a mobile pointing element according to the invention.

Laser scanning or laser scanning refers to the line or raster-like sweeping of surfaces or bodies with a laser beam in order to measure, process or create an image. Sensors that deflect the laser beam accordingly are called laser scanners. A laser scanner consists of a scanning or scanning head and a driver and control electronics. In laser scanning, the surface geometry of objects, e.g. by means of pulse transit time, phase difference in comparison to a reference or by triangulation of laser beams, recorded digitally. This results in a discrete set of sampling points, which is referred to as a point cloud. The coordinates of the measured points are determined from the angles and the distance with respect to an origin, e.g. the location of the laser scanner. As a result, three-dimensional laser scanning yields a three-dimensional point cloud and thus a complete image of a measurement scene. On the basis of the point cloud, for example, individual dimensions, such as Lengths and angles, determined or it is constructed from a closed surface and used for visualization. This makes it possible, for example, to create a complete three-dimensional model of the production environment with a number of production resources arranged therein in the vicinity of production plants. Production resources can be, for example, robots, machines, tools, walls, columns, carriers or other objects.

A problem of creating a three-dimensional model is that it is necessary to place the laser scanner in such a way that as far as possible all shadowing can be compensated. If this is not possible, several measurements must be taken from different measuring locations and the respective point clouds combined.

A method for detection or position detection of known objects is for example from the EP 0 364 614 A1 known. As a criterion for the recognition of the position and orientation of the known body with respect to a reference position, the calculation of the moments of inertia of the line of intersection between a body surface of a measurement object, which is the known body, and a virtual volume primitive, and a subsequent main axis transformation is used. However, this method, too, can not address the problem of shadowing in a scan and requires multiple measurements of different measurement locations and their combination.

It is an object of the present invention to provide a method which enables the creation of a three-dimensional model of an environment, in particular a production environment with a number of production resources, in a simpler manner with greater precision.

Another object of the invention is to provide a laser scanner and other tools that enable the efficient implementation of the method.

It is finally an object of the invention to provide a system for creating a three-dimensional model of an environment, which allows the implementation of the method with high efficiency and little effort.

These objects are achieved by a method according to the features of claim 1, a computer program product according to the features of claim 17, a mobile pointing element according to the features of claim 18, a laser scanner according to the features of claim 21 and a system according to the features of claim 22 Advantageous embodiments emerge from the dependent claims.

• a) ein- oder mehrmalige Abtastung der Produktionsumgebung mit einem Laserscanner, wobei bei jeder Abtastung eine Menge von dreidimensional verteilten Abtastpunkten der Produktionsumgebung ermittelt wird;
• b) Anordnung eines mobilen Zeigeelements in der Produktionsumgebung, wobei das Zeigeelement einer bestimmten Position in der Produktionsumgebung, insbesondere einer der Produktionsressourcen, zugeordnet ist, welche durch den Laserscanner bei einer weiteren Abtastung, insbesondere ausschließlich, mittelbar über die Erfassung des Zeigeelements erfassbar ist; und
• c) Ermittlung einer Oberflächengeometrie der Produktionsumgebung, insbesondere einer jeweiligen Oberflächengeometrie der Anzahl an Produktionsressourcen der Produktionsumgebung, aus der diskreten Menge von dreidimensional verteilten Abtastpunkten und einer der bestimmten Position zugeordneten Information, wobei die der bestimmten Position zugeordnete Information zumindest Geometriedaten, welche durch die Abtastung nicht erfassbar sind, der bestimmten Position umfasst.

The object is achieved by a method for creating a three-dimensional model of a production environment with a number of production resources. The method comprises the steps:

• a) one or more sampling of the production environment with a laser scanner, wherein each sample a set of three-dimensionally distributed sampling points of the production environment is determined;
• b) arranging a mobile pointing element in the production environment, wherein the pointing element is assigned to a specific position in the production environment, in particular one of the production resources, which is detectable by the laser scanner in a further scan, in particular exclusively, indirectly via the detection of the pointing element; and
• c) determining a surface geometry of the production environment, in particular a respective surface geometry of the number of production resources of the production environment, from the discrete set of three-dimensionally distributed sampling points and one of the determined Information associated with position, wherein the information associated with the particular position comprises at least geometry data, which are not detectable by the scan, the determined position.

In the present description, a specific position is understood to mean a singular point of the production environment or a production resource as well as a spatial area in the production environment or the production resource.

In the method according to the invention, the laser scanner and the mobile pointing element interact. The laser scanner conventionally serves to control the production environment and the production resources therein, e.g. Machining tools, machines, robots as well as structural elements, e.g. Post, beam, etc., to capture three-dimensional. Due to shadowing, the laser scanner is unable to fully capture the area of the production environment to determine the full surface geometry of the production environment. A shading is given when another, also scanned object is arranged between the laser scanner and an object to be scanned. It is envisaged to integrate information about such areas, which can not be detected by the laser scanner, by means of the mobile pointing element into the data acquired by the laser scanner. By means of the mobile pointing element, the specific positions not directly detectable by the laser scanner can be referenced. Because the mobile pointing element can be detected by the laser scanner during a scan, it is able to refer to the specific position that can not be detected directly.

This makes it possible to determine the information assigned to specific positions and to take it into account when determining the surface geometry. Thereby, e.g. the area of a production resource which is not visible to the laser scanner when calculating the surface geometry can be computationally supplemented by processing the associated information.

According to one embodiment, step a) of one or more sampling of the production environment may be performed prior to the placement of the mobile pointing element in step b) and the subsequent further scan. Alternatively, it is possible to carry out steps a) and b) simultaneously, in which case the further sampling of step b) corresponds to a sampling of step a).

In order to be able to determine as precise a surface geometry as possible of the production environment, and in particular a respective surface geometry of the number of production resources of the production environment, it is expedient if the position assigned to the pointing element comprises not only geometry data but also movement data of a production resource in local and / or temporal terms. For example, while geometry data includes the spatial extent of a production resource such that not only the area of the production resource scanned by the laser scanner can be created in the surface geometry, motion data accounts for the movements and spatial extent of a production resource during its operation. It is not necessary for the production resource to be scanned during production resource operation.

Rather, the movement and the required spatial expansion range of the production resource can be taken into account in retrospect in the determination of the surface geometry. This is advantageous, for example, to take into account the spatial requirements and the movement behavior of an articulated-arm robot in a production environment. In addition to the absolutely required volume range, the temporal component of a movement can also be taken into account. For example, a pivoting range is needed only for a short time, while for a comparatively longer period of time the articulated robot is in a different working area or moves. This makes it possible to otherwise use the only temporarily used area with knowledge of the absence of the articulated robot at these times. Another use could be, for example, the use of the pivoting range by another articulated robot in the immediate vicinity.

According to a further expedient embodiment, the laser scanner can be arranged for a respective scan at one or more predetermined measurement locations of the production environment. In principle, it is sufficient for carrying out the method according to the invention if a sampling of the production environment takes place from a single measuring location. Regions that are not "visible" by the laser scanner can be determined by enriching information with the help of the mobile pointing element. Nonetheless, in large and / or complex production environments, it may also be useful to perform multiple scans from different measurement locations, combining and superimposing the sampling points found in the scans in a manner known to those skilled in the art. It may be useful or appropriate in both variants, the Mobile pointer to different locations, which are not scanned by the laser scanner in the respective scan, to order to process information for the different, specific positions each.

According to a further expedient embodiment, the pointing element comprises a device for localization or a part of the pointing element can be located and / or detected during a scan by the laser scanner. Such a localization device can be active or passive. A passive localization device consists, for example, in a spatially uniquely detectable marker by the laser scanner, which has a specific surface finish and / or shape and / or color. Likewise, a particular shape of the pointing element itself or a part of the pointing element can be detected by the laser scanner. An active localization device consists, for example, in a communication unit which transmits information about the current position and / or orientation and / or position information about the specific position to the laser scanner.

It can be provided that the laser scanner determines an alignment of the pointing element in the space in order to determine from the orientation and optionally known information about the geometry of the pointing element the specific position and the information assigned to the specific position. The determination of the particular position that is referenced by the pointing element may be determined, for example, from the orientation of the pointing element and a known length of the pointing element. This allows the laser scanner to calculate at which point there is a touch point of the pointing element, which then corresponds to the specific position.

According to a further embodiment, the pointing element can determine its orientation in space with one or more sensors and transmit an information representing the orientation to the laser scanner or a computing unit of the laser scanner. For example, tilt sensors can be used as sensors. Alternatively, the pointing element can determine its position and orientation in space by communicating with other communication nodes by triangulation.

The arithmetic unit can be part of the laser scanner. The arithmetic unit can also be a component separate from the laser scanner, which exchanges data with the laser scanner.

The information associated with the specific position can be transmitted from the pointing element to the laser scanner or the arithmetic unit of the laser scanner. Alternatively, the information associated with the specific position can be determined by the laser scanner or the arithmetic unit of the laser scanner from a database. In this variant, it is only necessary that the arithmetic unit of the laser scanner can determine the specific position by evaluating the position, and optionally orientation, of the pointing element. On the basis of the specific position, the information assigned to the specific position can then be determined from the database. For this purpose, in the database e.g. stored a table that includes a relationship between a particular position and the associated information.

The particular position may also be assigned a unique reference, the unique reference being used to determine the information associated with the particular position. For this purpose, the database can be queried based on the unique reference, which includes a relationship between the reference and the associated information. The unique reference may, for example, be transferred from the pointing element to the arithmetic unit of the laser scanner during the detection of the position and / or position of the pointing element by the laser scanner. The unique reference could also be added manually to the measurement data.

According to a further expedient embodiment, it is provided that the sampling of the production environment with the laser scanner according to step a) and step b) takes place when the production resources have a static state. As a result, the quality of the determination of the surface geometry can be improved because the scanning can be made more reliable. Any information comprising the movement may be taken into account based on the additional information determined by the pointing element.

It is useful if the pointing element is held by a user. In particular, the pointing element can have a signal light and / or a loudspeaker, via which and / or an optically or acoustically perceptible signal is output if a suitable or optimal position is determined for the scan in step b). In particular, the determination of the suitable or optimal position by the laser scanner is carried out by the laser scanner tracking a movement of the pointing element. For this purpose, the pointing element can be moved by a user, for example in space, wherein the movement of the pointing element or at least a part thereof is detected and tracked by the laser scanner. As soon as the laser scanner is able to determine the specific position in a particular orientation of the pointing element in space, this can be detected visually or acoustically by the user Signal to be signaled. As a result, the user places the pointing element in the appropriate or optimal position so that the laser scanner can then measure or scan.

According to another embodiment, a perceptible signal is output when a scan of the production environment and the pointing element has been successfully performed. As a result, the user is signaled that the measurement or detection has been completed, so that the pointer element can now be arranged at another position for carrying out a further measurement. By means of several measurements, it is possible to scan the room from only a single measuring location even in a larger production environment, since shaded or non-detectable areas can be enriched by the laser scanner with the information which is determined via the pointing element.

The information associated with the specific position can be attached to the specific position as information that can be read optically and / or by data transmission, which is read out by a reading device of the pointing element and transmitted to the arithmetic unit of the laser scanner during or after successful detection of the pointing element. Optically readable information can be provided, for example, in the form of a barcode or a QR code at a production resource. Geometric and / or other information may be included in the optical information. It may also be merely a reference to a source, e.g. a database containing the necessary information. A read-out by data transmission can take place, for example, using near-field communication technologies (NFC, Near Field Communication). Again, either the information associated with the particular position may be transmitted as such to the pointing element and then to the arithmetic unit of the laser scanner. Likewise, as in the aforementioned case, only a reference to the necessary information can be read out and transmitted. For example, the reference could be to a website or a location in a database. The readable information can be arranged here at any area of the production environment or the production resource and does not need to be detected by the laser scanning by the laser scanner.

The invention further provides a computer program product that can be loaded directly into the internal memory of a digital processing unit and includes software code portions that perform the steps of the previously described methods when the product is run on a computing unit. The computer program product may be in the form of a physical medium such as a hard disk. a DVD, a CD, a USB memory, a memory card, but also in the form of a transferable via a communication channel file.

The object is further achieved by a mobile pointing device comprising means for detecting the pointing element or a part of the pointing element by a laser scanner for scanning a production environment, and configured to reference a particular position of the production environment. A referencing of the production environment can be done for example by touching the specific position.

The pointing element can also be designed to exchange data with the laser scanner. For this purpose, the pointing element has a corresponding communication device.

According to a further expedient embodiment, the pointing element can comprise a reading device, by means of which information associated with the specific position can be read out.

In addition, the mobile pointing element may include a signal light and / or a speaker to output a visually or acoustically perceptible signal. Alternatively or additionally, the pointing element can also comprise a haptic output device, via which, for example, a vibration is output.

The object is further achieved by a laser scanner for scanning a production environment, which comprises a number of production resources, wherein the laser scanner has a computing unit and is adapted to perform a one or more sampling of the production environment, with each sample a discrete set of three-dimensional distributed sampling points of the production environment is determined; capture a mobile pointing element located in the production environment associated with a particular location; determine the specific position associated with the mobile pointer; to determine an information associated with the particular position; and determine a surface geometry of the production environment from the discrete set of three-dimensionally distributed sampling points and the information associated with the determined position, wherein the information associated with the determined position comprises at least geometry data of the determined position.

As described above, the arithmetic unit can be part of the laser scanner or a separate arithmetic unit which is connected to the laser scanner Exchange of data with the laser scanner is in communication. The task of the arithmetic unit is to calculate the surface geometry of the production environment and to process the information assigned to the specific position.

The object is further achieved by a system for creating a three-dimensional model of a production environment having a number of production resources, the system comprising a mobile pointing element of the type described herein and a laser scanner of the type described herein.

The invention will be explained in more detail below with reference to exemplary embodiments in the drawing. Show it:

1 a schematic representation of a system according to the invention for creating a three-dimensional model of a production environment in a plan view;

2 a schematic representation of a laser scanner and a production resource in a side view, wherein the arrangement of a mobile pointing element for accumulating the data is shown;

3 a schematic representation of the interaction of a laser scanner according to the invention with a pointing element according to a first embodiment variant;

4 a schematic representation of the interaction of a laser scanner according to the invention with a pointing element according to a second embodiment variant;

5 a schematic representation of the interaction of a laser scanner according to the invention with a pointing element according to a third embodiment variant; and

6 a flowchart illustrating the flow of the inventive method.

1 shows a schematic representation of a system according to the invention for creating a three-dimensional model of a production environment 1 , The production environment 1 includes a number of production resources 2 . 3 . 4 , The production resources 2 . 4 are, for example, processing machines or tools. The production machine 2 represents an articulated robot 3 with, for example, three rotating arms 3A . 3B . 3C dar. A working area of the articulated robot 3 is with the reference numeral 3D characterized, wherein the work area 3D in one area of the production environment 1 between the production resource 2 and the production resource 4 is arranged. For example only, the production resource includes a first subcomponent 4A and a second subcomponent 4B which are arranged at a right angle to each other. The production resource 3 performs only as an example in the context of a processing process, a movement between the two production resources 2 and 4 in which, for example, a material part of the production resource 4 to the production resource 2 moved, at the production resource 2 edited and then back to the production resource 4 to be led. The workspace 3D the production resource 3 is therefore only used temporarily.

To create a three-dimensional model of the production environment 1 Creating a surface geometry of the production environment 1 required. In particular, in the context of the method is a respective surface geometry of the production resources 2 . 3 . 4 to create. This is done by means of a laser scanner 5 which is in the production environment 1 in the present embodiment, only by way of example in the plan view of the schematic representation is arranged at the top left. The production resource 5 sends in a known manner a scanning signal 5S through a line or raster-like sweeping of the surfaces of the production resources 2 . 3 . 4 and other body (eg, columns, stretcher, etc.) in the production environment 1 done to measure these. At the in 1 shown relative arrangement of the laser scanner 5 and production resources 2 . 3 . 4 the problem arises of shadowing 22 , ie surface areas, which by the scanning signal 5S can not be detected due to their geometric orientation.

To the surface geometry of the production resources 2 . 3 . 4 the production environment 1 Therefore, in the prior art, it is necessary to perform a plurality of measurements, each measurement being made to or from a different measurement location. The different measurements are then combined with each other and added to a complete surface geometry.

In contrast, the present method allows the surface geometry of the production environment 1 and the production resources located therein 2 . 3 . 4 and the possibly existing other body as far as completely completely to be determined, if the measurement only from a single location 11 is executed, but several measurements are also possible. For this purpose, the method uses a mobile pointing element in addition to the laser scanner 7 , The pointing element 7 is a specific position 10 in the production environment 1 assigned. In the embodiment of 1 corresponds to the specific position 10 eg the base of the perpendicularly extending from the sheet plane rotating arm 3A , The pointing element 7 is a mobile component that is held by a user, for example, such that the pointing element on the one hand to the specific position 10 and on the other hand by the laser scanner 5 is detectable in a scan. It is not necessary that the area of the mobile pointing element 7 that by the scanning signal 5S of the laser scanner can be detected, at the specific position or corresponds to the specific position. Rather, by the detection of the pointing element or a part thereof by a computing unit of the laser scanner 5 or one with the laser scanner 5 connected computing unit 12 be closed to the specific place.

This is for example 2 which shows in a side view the arrangement of the laser scanner 5 relative to the rotary arm 3A and the mobile pointing element 7 illustrated. The named elements are on a ground 1B arranged. The pointing element 7 , which is only elongated by way of example, refers with its first end to the specific position 10 , The pointer can be 7 , as in 2 shown, the rotary arm 3A touch. The other end of the pointing element 7 includes a section with a locator 8th , The localization device 8th is through the laser scanner 5 detectable, so that the laser scanner 5 or its arithmetic unit 12 on the geometric arrangement of the pointing element 7 close in the room. With additional knowledge of the geometric design of the pointing element 7 can then be closed to the point or area pointed to by the pointing element 7 refers or touches. This point or area corresponds to the specific position 10 , The specific position 10 is associated with information containing at least geometric data of the particular position 10 includes. For example, in the described embodiment, the information may be the geometric extent of the production resource 3 or the rotary arm 3A in the one of the laser scanner 5 not scannable area. The information can also provide information about the movement of the other rotating arms 3B . 3C and / or the workspace 3D the production resource 3 include. Likewise, the information may contain an indication of the speed or timing of the production resource 3 between the production resources 2 and 4 emotional.

The specific position 10 Associated information is used in determining the surface geometry of the production environment 1 considered. The determination of the surface geometry thus takes place in each scan by the laser scanner 5 determined discrete set of three-dimensionally distributed sampling points of the production environment or the production resources 2 . 3 . 4 and the specific position 10 associated information. By combining these two pieces of information, it is at least possible to calculate the surface geometry also for those areas which can not be indirectly detected by the scanning, ie also the laser scanner 5 remote part of the production resource 3 can be considered in the three-dimensional model. This procedure is preferably also for the other shadowing 22 carried out.

The environment scan is preferably done in a static state of the production environment 1 , This means none of the production resources 2 . 3 . 4 moves during the moment of the scan (s). In addition, no users should be in the production environment 1 which can falsify the detection of the surface geometry.

The scanning of the production environment 1 through the laser scanner 1 can before placing the mobile pointer 7 in the production environment 1 respectively. In order to improve the accuracy of the scanning of the static scene, a multiple sampling can also be performed. Following this, another scan can be performed by which the particular position 10 based on the detection of the pointing element 7 is determined. On the basis of the specific position, the information required for the calculation of the surface geometry, which is assigned to the specific position, can then be determined and processed in the determination of the surface geometry.

Alternatively, it is also possible to arrange the pointing element in the production environment and to make a scan of the production environment and the pointing element located therein.

As described, it can also be provided that the mobile pointing element 7 in different places in the production environment 1 is arranged, then in each case one scan for detecting and determining the specific position 10 is carried out. The mobile pointing element 7 in particular to the for the laser scanner 5 arranged non-scannable areas, ie in particular in the field of shadowing 22 ,

The localization device 8th of the pointing element 7 For example, by a special geometric design of the pointing element 7 be realized. For example, at the in 2 be shown a free marker arranged free end. Due to the geometry, the texture or color of the marker can the arithmetic unit 12 of the laser scanner 5 close to the geometric orientation of the pointing element in space. Alternatively, the location device 8th be a communication unit, which by data exchange with the laser scanner 5 transmits its geometric position in space. For this purpose, the pointer element 7 one or more sensors, such as tilt sensors. The location in space can be determined by the pointing element 7 For example, it can also be determined by communicating with others in the production environment 1 arranged communication nodes triangulation is performed.

Alternatively, the pointing element 7 be equipped with a technical device that allows a user to understand its position on which the laser scanner 5 just focused. For example, this can be a signal light 17 and / or a speaker 18 be. About the signal light 17 and / or the speaker 18 For example, an optically or acoustically perceptible signal can be output if, for the scan, the geometric arrangement of the pointing element is detected 7 a suitable or optimal position is detected in the production environment. For this purpose, the laser scanner follows 5 the movement of the pointing element in space.

The signaling means may also be used to output a signal perceptible to the user when scanning the production environment and the pointing element 7 was successfully performed so that the particular position pointed to by the pointing element could be determined.

The 3 to 5 show different schematic representations of possible scenarios of an interaction of a laser scanner 5 and the pointing element 7 existing system for creating a three-dimensional model of the production environment 1 ,

As already apparent from the foregoing description, the laser scanner includes 5 an arithmetic unit 12 , which send out the scanning signal 5S required scanning unit 13 and a communication unit 14 to exchange data. It is noted that the arithmetic unit 12 to perform the determination of the surface geometry of the production environment taking into account the discrete set of three-dimensionally distributed sampling points and the information associated with the particular position. Alternatively, this determination or calculation can also be performed by a computing unit communicatively connected to the laser scanner and / or the pointing element.

The pointing element 7 includes in the embodiment according to 3 a reading device 15 , by which information which is attached, for example, to a production resource (cf. 1 ), can be read out. The information 9 For example, it can be optically read out so that it can be attached to the production resource in the form of a barcode, QR code and the like. The reading of the information can also be done by communication in the near field (Near Field Communication, NFC), so that the reading device 15 in this case includes appropriate communication means. The reading device 15 is with a computing unit 19 coupled. The arithmetic unit 19 is used for processing of the reading device 15 received information (s). The arithmetic unit 19 is also with the already mentioned signal light 17 and the speaker 18 coupled and controls their control. The pointing element 7 In addition, it may have an input means not shown in detail, via which a user can inform about a specific position 10 can add. The pointing element 7 For example, the user can suggest context-specific information for selection. Furthermore, the pointing element comprises 7 a communication device 16 , which also with the arithmetic unit 19 is coupled. Via a communication channel 21 can the laser scanner 5 and the pointing element 7 about their respective communication units 14 . 16 Exchange data.

The communication channel 20 can be wired or wireless. The over the communication channel 21 For example, exchanged data relates to the placement and orientation of the pointing element 7 in space by providing appropriate information from the pointing element 7 to the laser scanner 5 is transmitted. Alternatively, in tracking the movement of the pointing element 7 an information from the laser scanner to the pointing element 7 be transmitted that an optimal position for a scan is reached, which then by driving the signal light 17 and / or the speaker 18 a user is signaled. Via the communication channel 21 In addition, that can be a specific position 10 associated information, which for example by the reading device 15 is read in directly to the laser scanner 5 for further processing.

Through the reading device 15 makes it possible, for example, to evaluate machine-readable codes. Will the pointer 7 through the laser scanner 5 tracked by scanning, so can provide information to the laser scanner 5 be transferred, even if the actual information carrier (the machine-readable code) is not visible from the laser scanner. This ensures high flexibility in one optical shadowing of a specific measuring location of the laser scanner 5 ,

As 4 shows, instead of the immediate transmission of the information associated with the particular position, only a reference can be transmitted via a location from which the information associated with the particular position can be retrieved. For example, the information includes 9 at the production resource 3 (please refer 1 ) the reference to a database in which the information associated with the particular position is retrievable. 4 shows such a database 20 to which in this case by the arithmetic unit 12 of the laser scanner 5 can be accessed.

5 shows a further variant, in which by sending the scanning signal 5S and tracking the locator 8th the geometric arrangement of the pointing element 7 in the room and thus the specific position 10 can be determined. By accessing the database 20 then the information associated with the particular position can be determined and further processed.

The assignment of the information associated with the specific position can also be done manually by referencing, eg immediately after the scanning of the pointing element 7 , respectively. Access to the information is then for example by reading the database 20 ,

6 shows in a flow chart the flow of the inventive method. In a step S61, the production environment is scanned with a laser scanner and a set of three-dimensionally distributed sampling points is determined. In step S62, the placement of a mobile pointing element in the production environment associated with a particular position in the production environment occurs. This is followed by a step S63, in which an indirect detection of the specific position by detection of the pointing element by the laser scanner takes place. Subsequently, in step S64, the determination of a surface geometry of the production environment from the sampling points and an information associated with the specific position.

As part of determining the surface geometry, additional data can be inserted in addition to geometry data. For example, this may be a link, which is read out via a text recognition and / or a machine-readable code by the pointing element and buffered during the scan. The arithmetic unit of the laser scanner can then use the link to determine and process further information for the enrichment of the surface geometry.

The proposed method makes it possible to create the surface geometry of a production environment and the production resources contained therein from a single measurement location. Not visible by a laser scanner areas can be determined by the processing of certain places associated information and calculated in the surface geometry. The process is robust and fast to perform.

LIST OF REFERENCE NUMBERS

1

production environment

1B

ground

2

production resource

3

Production resource (articulated robot)

3A

rotating arm

3B

rotating arm

3C

rotating arm

3D

Workspace

4

production resource

4A

first subcomponent

4B

second subcomponent

5

laser scanner

5S

sampling

6

non-detectable areas of production resources by the laser scanner

7

Show item

8th

localization device

9

optically readable information

10

certain position

11

Measuring location

12

computer unit

13

scanning

14

communication unit

15

reader

16

communicator

17

signal light

18

speaker

19

computer unit

20

Database

21

communication channel

22

shadowing

S61

step

S62

step

S63

step

S64

step

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 0364614 A1 [0004]

Claims (22)

Method for creating a three-dimensional model of a production environment ( 1 ) with a number of production resources ( 2 . 3 . 4 ), with the steps: a) one or more sampling of the production environment ( 1 ) with a laser scanner ( 5 ), with each sample containing a discrete set of three-dimensionally distributed sampling points of the production environment ( 1 ) is determined; b) Arrangement of a mobile pointing element ( 7 ) in the production environment ( 1 ), whereby the pointing element ( 7 ) of a certain position ( 10 ) in the production environment ( 1 ) assigned by the laser scanner ( 5 ) in a further scan indirectly via the detection of the pointing element ( 7 ) is detectable; c) Determining a surface geometry of the production environment ( 1 ) from the discrete set of three-dimensionally distributed sampling points and one of the determined position ( 10 ), the information assigned to the particular position ( 10 ) associated information at least geometric data of the particular position ( 10 ).  The method of claim 1, wherein steps a) and b) are performed simultaneously, wherein the further scan of step b) is the scan in step a). Method according to Claim 1 or 2, in which the pointing element ( 7 ) associated position next geometry data motion data in local and / or temporal terms. Method according to one of the preceding claims, in which the laser scanner ( 5 ) for a respective scan at one or more predetermined measurement locations ( 11 ) of the production environment ( 1 ) is arranged. Method according to one of the preceding claims, in which the pointing element ( 7 ) comprises a means for localization or a part of the pointing element ( 7 ) during a scan by the laser scanner ( 5 ) is located and / or detected. Method according to one of the preceding claims, in which the laser scanner ( 5 ) an orientation of the pointing element ( 7 ) in space to determine from alignment and optionally known information about the geometry of the pointing element ( 7 ) the specific position ( 10 ) and the specific position ( 10 ) to determine associated information. Method according to one of the preceding claims, in which the pointing element ( 7 ) determines its orientation in space with one or more sensors and an information representing the orientation to a computing unit ( 12 ) of the laser scanner ( 5 ) transmits. Method according to one of Claims 1 to 7, in which the specific position ( 10 ) associated information from the pointing element ( 7 ) to the arithmetic unit ( 12 ) of the laser scanner ( 5 ) is transmitted. Method according to one of Claims 1 to 7, in which the specific position ( 10 ) associated information by the computing unit ( 12 ) of the laser scanner ( 5 ) from a database ( 20 ) is determined. Method according to one of the preceding claims, in which the determined position ( 10 ) is assigned a unique reference, using the unique reference 10 ) associated information are determined. Method according to one of the preceding claims, in which the sampling of the production environment ( 1 ) takes place when the production resources ( 2 . 3 . 4 ) have a static state. Method according to one of the preceding claims, in which the pointing element ( 7 ) is held by a user. Method according to one of the preceding claims, in which the pointing element ( 7 ) a signal light ( 17 ) and / or a loudspeaker ( 18 ) via which and / or which a visually or acoustically perceptible signal is output, if a suitable or optimum position is determined for the scan in step b). Method according to claim 13, wherein the determination of the suitable or optimal position by the laser scanner ( 5 ) is performed by the laser scanner ( 5 ) a movement of the pointing element ( 7 ) tracked. A method according to claim 13 or 14, wherein a perceptible signal is output when a production environment scan ( 1 ) and the pointing element ( 7 ) was successfully completed. Method according to one of the preceding claims, in which the specific position ( 10 ) information as optically and / or by data transmission readable information ( 9 ) at the specific position ( 10 ) mounted by a reading device ( 15 ) of the pointing element ( 7 ) and on or after successful detection of the pointing element ( 7 ) to the arithmetic unit ( 12 ) of the laser scanner ( 5 ) is transmitted. Computer program product that directly enters the internal memory of a digital processing unit ( 12 ) and comprises software code sections, with which the steps according to one of the preceding claims are executed, when the product is stored on the computing unit ( 12 ) running. Mobile pointing element ( 7 ), which is a device with which the pointing element ( 7 ) or part of the pointing element ( 7 ) by a laser scanner ( 5 ) for scanning a production environment ( 1 ) is and includes and is adapted to a specific position ( 10 ) of the production environment ( 1 ) to reference. Pointing element ( 7 ) according to claim 18, which is further adapted to be connected to the laser scanner ( 5 ) Exchange data. Pointing element ( 7 ) according to claim 18 or 19, comprising a reading device ( 15 ) by which one of the determined positions ( 10 ) associated information ( 9 ) can be read out. Laser scanner ( 5 ) for scanning a production environment ( 1 ) containing a number of production resources ( 2 . 3 . 4 ), with a computing unit ( 12 ), whereby the laser scanner ( 5 ) is designed to: - scan the production environment one or more times ( 1 ), with each sample having a discrete set of three-dimensionally distributed sampling points of the production environment ( 1 ) is determined; - one in the production environment ( 1 ) mobile pointing element ( 7 ), a specific position ( 10 ) is detected; - the mobile pointing element ( 7 ) assigned certain position ( 10 ) to investigate; - one of the specific positions ( 10 ) to determine associated information; and - a surface geometry of the production environment ( 1 ) from the discrete set of three-dimensionally distributed sampling points and that of the determined position ( 10 ), the information of the particular position ( 10 ) associated information at least geometric data of the particular position ( 10 ). System for creating a three-dimensional model of a production environment ( 1 ) with a number of production resources ( 2 . 3 . 4 ), the system being a mobile pointing element ( 7 ) according to one of claims 18 to 20 and a laser scanner ( 5 ) according to claim 21.

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