Viewing device and method for three-dimensional noncontacting measurements
First Claim
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1. A three-dimensional noncontacting measuring device, characterized by comprising:
- a measuring machine (10) presenting a movable ele ment (12) movable in a three-dimensional measuring space (T);
said measuring machine (10) presenting means for determining a first vector (CTPOS) defining the position of a reference point (CT) of said movable element (12) in relation to a first reference system of the measuring machine (10) itself and defined by a first cartesian reference frame (X,Y,Z) comprising perpendicular coordinate X,Y,Z axes;
a viewing sensor (25) of a measuring head (15) fitted to said movable element (12);
said measuring head (15) presenting positioning means (18) for orienting said viewing sensor (25) in said measuring space (T);
said viewing sensor (25) comprising at least a television camera (31) and a source (33) of a laser beamsaid television camera (31) covering a three-dimensional space (38), in particular a space in the form of a solid angle and presenting an optical axis (41);
said laser beam (35) presenting an axis of symmetry (44) intersecting said three-dimensional space (38);
the intersection of said optical axis (41) and said axis of symmetry (44) defining the origin of a second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"') forming part of a second reference system of said viewing sensor;
said second Cartesian reference frame comprising perpendicular coordinate X'"'"',Y'"'"',Z'"'"' axes, one axis (Z'"'"') of which is oriented along said optical axis (41);
said television camera (31) picking up a two-dimensional image defining an image plane, at the center (CI) of which is definable a point corresponding to the origin of said second reference system located with first and second coordinate axes (Y'"'"', X'"'"') perpendicular to each other and in the image plane;
said viewing sensor (25) supplying, for a point (P) in the measuring space, a measurement expressed by a measuring vector (m'"'"') relative to and oriented in relation to said second reference system (X'"'"',Y'"'"',Z'"'"');
said device (1) comprising calculating means for calculating a number of extrinsic parameters, including;
at least an OFFSET vector extending from the origin (O'"'"') of said second reference system (X'"'"',Y'"'"',Z'"'"') to said reference point (CT) of said movable element (12);
said OFFSET vector being defined for at least a first arrangement of said positioning means;
at least a rotation matrix (ROT-MAT) defining the relationships between said first Cartesian reference frame (X,Y,Z) and said second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"');
said device (1) comprising calculating means for calculating a second vector (V) expressing the distance between the origins of said first and said second reference system;
said second vector (V) being calculated on the basis of said first vector and said OFFSET vector;
said device (1) presenting vectorial calculating means for calculating a correct measurement (m) by relating said measurement vector (m'"'"') to said first reference system via said rotation matrix; and
said vectorial calculating means relating said correct measurement (M=m+V) to said first reference system by means of said second vector (V).
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Abstract
A viewing device wherein a measuring machine presents a movable element movable along three coordinate axes of the measuring machine; the movable element is fitted with an articulated measuring head supporting a viewing sensor presenting a television camera and a laser beam source; by analyzing the two-dimensional image picked up by the television camera and the position of the laser beam in the two-dimensional image, the coordinates of a point in relation to a reference system of the viewing sensor are determined; and the measurement is subsequently related to the reference system of the measuring machine.
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Citations
16 Claims
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1. A three-dimensional noncontacting measuring device, characterized by comprising:
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a measuring machine (10) presenting a movable ele ment (12) movable in a three-dimensional measuring space (T); said measuring machine (10) presenting means for determining a first vector (CTPOS) defining the position of a reference point (CT) of said movable element (12) in relation to a first reference system of the measuring machine (10) itself and defined by a first cartesian reference frame (X,Y,Z) comprising perpendicular coordinate X,Y,Z axes; a viewing sensor (25) of a measuring head (15) fitted to said movable element (12); said measuring head (15) presenting positioning means (18) for orienting said viewing sensor (25) in said measuring space (T); said viewing sensor (25) comprising at least a television camera (31) and a source (33) of a laser beam said television camera (31) covering a three-dimensional space (38), in particular a space in the form of a solid angle and presenting an optical axis (41); said laser beam (35) presenting an axis of symmetry (44) intersecting said three-dimensional space (38); the intersection of said optical axis (41) and said axis of symmetry (44) defining the origin of a second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"') forming part of a second reference system of said viewing sensor; said second Cartesian reference frame comprising perpendicular coordinate X'"'"',Y'"'"',Z'"'"' axes, one axis (Z'"'"') of which is oriented along said optical axis (41); said television camera (31) picking up a two-dimensional image defining an image plane, at the center (CI) of which is definable a point corresponding to the origin of said second reference system located with first and second coordinate axes (Y'"'"', X'"'"') perpendicular to each other and in the image plane; said viewing sensor (25) supplying, for a point (P) in the measuring space, a measurement expressed by a measuring vector (m'"'"') relative to and oriented in relation to said second reference system (X'"'"',Y'"'"',Z'"'"'); said device (1) comprising calculating means for calculating a number of extrinsic parameters, including; at least an OFFSET vector extending from the origin (O'"'"') of said second reference system (X'"'"',Y'"'"',Z'"'"') to said reference point (CT) of said movable element (12);
said OFFSET vector being defined for at least a first arrangement of said positioning means;at least a rotation matrix (ROT-MAT) defining the relationships between said first Cartesian reference frame (X,Y,Z) and said second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"'); said device (1) comprising calculating means for calculating a second vector (V) expressing the distance between the origins of said first and said second reference system; said second vector (V) being calculated on the basis of said first vector and said OFFSET vector; said device (1) presenting vectorial calculating means for calculating a correct measurement (m) by relating said measurement vector (m'"'"') to said first reference system via said rotation matrix; and said vectorial calculating means relating said correct measurement (M=m+V) to said first reference system by means of said second vector (V). - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A three-dimensional noncontacting measuring method, characterized by comprising the steps of:
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determining a first vector (CTPOS) defining the position, in relation to a first reference system, of a reference point (CT) of a movable element (12) of a measuring machine (10); said first reference system being of the machine (10) itself, and being defined by a first Cartesian reference frame (X,Y,Z) comprising perpendicular coordinate X,Y,Z axes; determining, by means of a viewing sensor (25) fitted to a measuring head (15) of said movable element (12), a measuring vector (m'"'"') relative to a second reference system (X'"'"',Y'"'"',Z'"'"') of the viewing sensor (25) itself and defined by a second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"'); calculating a number of extrinsic parameters, including; at least an OFFSET vector extending from the origin (O'"'"') of said second reference system (X'"'"',Y'"'"',Z'"'"') to said reference point (CT) of said movable element (12); at least a rotation matrix (ROT-MAT) defining the relationship between said first Cartesian reference frame (X,Y,Z) and said second Cartesian reference frame (X'"'"',Y'"'"',Z'"'"'); calculating a second vector (V) expressing the distance between the origins of said first and said second reference system; said second vector (V) being calculated on the basis of said first vector and said OFFSET vector; calculating a correct measurement (m) by relating said measuring vector (m'"'"') to said first reference system via said rotation matrix; and relating said correct measurement (M =m +V) to said first reference system by means of said second vector. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification