Contactless measuring of position and orientation
First Claim
1. A method for contactless or touch-free measurements of a tool or accessories by means of at least one imaging area means and calculation indicating the position and/or orientation of the tool making use of image points on the imaging area means, based on the image points having predetermined mutual positions provided on the tool, imaged onto the imaging area means, and optics presenting the image points on the tool on the imaging area means, the image points being at least three visible within the field of view of the imaging area means at least one being distinctly identifiable, characterized by, in order to measure the position and/or orientation of the tool, providing a number of measuring elements on the tool, each measuring element having a size large enough for making a reconstruction of its form and calculation of at least one image point on the tool related to the measuring element even though a part of it happens to be obscured.
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Accused Products
Abstract
The invention relates to a method and device for contactless or touch-free measurement of a tool by imaging. A processor makes calculations based on image points on the tool, imaged onto an imaging area. Optics present the image of the image points on the tool on the imaging area. The processor calculates the momentary position and/or orientation along at least one axis of the tool making use of the image points. A number of measuring markers have predetermined mutual positions and are on the tool. Each measuring marker comprises at least one measuring point. At least one of the points is identifiable. Each measuring marker to be used as position and/or orientation indicator has a size making it restorable by the processor even if a part of it on the tool is obscured from the image area, for example by dust.
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Citations
21 Claims
- 1. A method for contactless or touch-free measurements of a tool or accessories by means of at least one imaging area means and calculation indicating the position and/or orientation of the tool making use of image points on the imaging area means, based on the image points having predetermined mutual positions provided on the tool, imaged onto the imaging area means, and optics presenting the image points on the tool on the imaging area means, the image points being at least three visible within the field of view of the imaging area means at least one being distinctly identifiable, characterized by, in order to measure the position and/or orientation of the tool, providing a number of measuring elements on the tool, each measuring element having a size large enough for making a reconstruction of its form and calculation of at least one image point on the tool related to the measuring element even though a part of it happens to be obscured.
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10. Device for contactless or touch-free measurement of a tool by means of imaging area means and processing means making calculations based on image point on the tool, imaged onto the imaging area means, and optics presenting the image of the image points on the tool on the imaging area means, the processing means being adapted to calculate the momentary position and/or orientation along at least one axis of the tool making use of the image points, characterized by a number of measuring elements and/or markers having predetermined mutual positions and being provided on the tool, each measuring element and/or marker comprising at least one measuring point, and at least one of them being identifiable;
- each measuring element and/or marker to be used as position and/or orientation indicating means having a size making it restorable by the processing means even if a part of it on the tool is obscured for the image area means.
- View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
Specification