MEASURING SYSTEM FOR DETERMINING 3D COORDINATES OF AN OBJECT SURFACE
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Abstract
A measuring system for determining 3D coordinates of measurement points on an object surface which has a scanning apparatus for measuring the measurement points on the object surface and for determining inner measurement point coordinates in an inner scanning coordinate system. Furthermore, a referencing arrangement for producing referencing information for referencing the inner measurement point coordinates in the outer object coordinate system and an evaluation unit for determining the 3D coordinates of the measurement points in the outer object coordinate system on the basis of the inner measurement point coordinates and the referencing information are provided such that the inner measurement point coordinates are in the form of 3D coordinates in the outer object coordinate system. The scanning apparatus is in this case carried in an unmanned, controllable, automotive air vehicle.
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Citations
39 Claims
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1-15. -15. (canceled)
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16. A measuring system for determining 3D coordinates of measurement points of an object surface in an outer object coordinate system comprising:
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an optical scanning device based on the triangulation principle for point by point optical measurement of the measurement points of the object surface and for determining inner measurement point coordinates in an inner scanning coordinate system; a referencing arrangement for generating referencing information for referencing the inner measurement point coordinates in the outer object coordinate system; an evaluation unit for determining the 3D coordinates of the measurement points in the outer object coordinate system depending on the inner measurement point coordinates and the referencing information, so that the inner measurement point coordinates are present as 3D coordinates in the outer object coordinate system; an unmanned, controllable, automotive air vehicle carrying the scanning device; and a control unit configured such that the air vehicle is moved relative to the object surface under automatic control while maintaining a predefined range of measuring distances, and a measuring distance; taking into account respective current inner measurement point coordinates determined using the scanning device; and
/ortaking into account an object surface predefined by a digital model along a flight path defined by the digital model. - View Dependent Claims (17, 18, 19, 20, 21, 22, 24, 25, 26, 27, 35, 36, 37, 38, 39)
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23. The measuring system as claimed in 21, wherein the referencing arrangement comprises:
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a position determining arrangement, which is designed such that the outer measuring position of the scanning device can be determined in relation to the object coordinate system; and
/oran orientation determination arrangement, which is designed such that the measuring orientation of the scanning device can be determined in relation to the object coordinate system, wherein the measuring position and the measuring orientation of the scanning device can be determined using a known positional relationship and orientation relationship of the air vehicle to the scanning device and an air vehicle position and an air vehicle orientation can be determined by the referencing arrangement.
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28. A method for determining 3D a plurality of 3D coordinates of measurement points of an object surface of an industrial product in an outer object coordinate system comprising:
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point by point, spatially displaceable, local optical scanning of the measurement points of the object surface based on a triangulation principle and determining local measurement point coordinates in an inner scanning coordinate system; generating referencing information of an outer measuring position and measuring orientation for referencing the local measurement point coordinates in the outer object coordinate system; determining the 3D coordinates of the measurement points in the outer object coordinate system depending on the local measurement point coordinates and the referencing information so that the local measurement point coordinates are present as 3D coordinates in the outer object coordinate system as a scatter plot; displacement of the local scanning takes place by means of an unmanned, controllable, automotive air vehicle, wherein the air vehicle is oriented and moved while hovering; and the air vehicle is moved while being automatically controlled relative to the object surface while maintaining a predefined range of measuring distances. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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Specification