COORDINATE MEASURING SYSTEM
First Claim
1. A coordinate measuring system comprising:
- a scanning module including a laser line scanner and a projection device, and defining a first coordinate system being body-fixed with respect to the scanning module,the laser line scanner being configured to project a laser line onto a surface of a workpiece and to produce scan data from a reflection of the laser line being reflected from the surface of the workpiece,the projection device being configured to project a first optical marker, at a distance from the laser line, onto the surface of the workpiece,the first optical marker being disposed along a first direction predefined in the first coordinate system,the projection device or the laser line scanner being configured to;
project a second optical marker onto the laser line, the second optical marker being disposed along a second direction predefined in the first coordinate system,project a third optical marker onto the surface of the workpiece, the third optical marker being disposed along a third direction predefined in the first coordinate system;
an optical sensor defining a second coordinate system body-fixed with respect to the optical sensor and being configured to capture image data of the first optical marker, the second optical marker, and the third optical marker; and
an evaluation device configured to determine;
a first position of the first optical marker, a second position of the second optical marker, and a third position of the third optical marker in a second coordinate system based on the image data,a fourth position of the second optical marker in the first coordinate system based on the scan data, anda position and orientation of the first coordinate system with respect to the second coordinate system based on the first to the fourth position and the first to third direction.
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Accused Products
Abstract
A coordinate measuring system includes a scanning module having a laser line scanner and a projection device. The laser line scanner projects a laser line onto a surface of a workpiece and produces scan data from a reflection of the laser line. The projection device and/or the laser line scanner project three optical markers onto the surface of the workpiece, at least one of the three markers being disposed on the laser line and at least one of the three markers being at a distance from the laser line. The coordinate measuring system includes an optical sensor capturing image data of the three optical markers and an evaluation device determining a position and an orientation of the coordinate system of the laser line scanner in the coordinate system of the optical sensor based on the image data of the optical sensor and the scan data of the laser line scanner.
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Citations
20 Claims
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1. A coordinate measuring system comprising:
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a scanning module including a laser line scanner and a projection device, and defining a first coordinate system being body-fixed with respect to the scanning module, the laser line scanner being configured to project a laser line onto a surface of a workpiece and to produce scan data from a reflection of the laser line being reflected from the surface of the workpiece, the projection device being configured to project a first optical marker, at a distance from the laser line, onto the surface of the workpiece, the first optical marker being disposed along a first direction predefined in the first coordinate system, the projection device or the laser line scanner being configured to; project a second optical marker onto the laser line, the second optical marker being disposed along a second direction predefined in the first coordinate system, project a third optical marker onto the surface of the workpiece, the third optical marker being disposed along a third direction predefined in the first coordinate system; an optical sensor defining a second coordinate system body-fixed with respect to the optical sensor and being configured to capture image data of the first optical marker, the second optical marker, and the third optical marker; and an evaluation device configured to determine; a first position of the first optical marker, a second position of the second optical marker, and a third position of the third optical marker in a second coordinate system based on the image data, a fourth position of the second optical marker in the first coordinate system based on the scan data, and a position and orientation of the first coordinate system with respect to the second coordinate system based on the first to the fourth position and the first to third direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A coordinate measuring method comprising:
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producing a laser line onto a surface of a workpiece; projecting a first optical marker onto the surface of the workpiece, the first optical marker being at a distance from the laser line, and disposed along a first direction predefined in a first body-fixed coordinate system; projecting a second optical marker onto the laser line, the second optical marker being disposed along a second direction predefined in the first coordinate system; projecting a third optical marker onto the surface of the workpiece, the third optical marker being disposed along a third direction predefined in the first coordinate system; determining a first position of the first optical marker, a second position of the second optical marker, and a third position of the third optical marker in a second body-fixed coordinate system; determining a fourth position of the second optical marker in the first body-fixed coordinate system; and determining a position and orientation of the first coordinate system with respect to a second coordinate system based on the first to the fourth position and the first to third direction. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A coordinate measuring system comprising:
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a scanner configured to; produce a laser line onto a surface of a workpiece, project a first optical marker onto the surface of the workpiece, the first optical marker being at a distance from the laser line and disposed along a first direction predefined in a first body-fixed coordinate system, project a second optical marker onto the laser line, the second optical marker being disposed along a second direction predefined in the first coordinate system, and project a third optical marker onto the surface of the workpiece, the third optical marker being disposed along a third direction predefined in the first coordinate system; and a computation device comprising an electronic circuitry configured to determine; a first position of the first optical marker, a second position of the second optical marker, and a third position of the third optical marker in a second body-fixed coordinate system, a fourth position of the second optical marker in the first body-fixed coordinate system, and a position and orientation of the first coordinate system with respect to a second coordinate system based on the first to the fourth position and the first to third direction.
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Specification