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Viewing device and method for three-dimensional noncontacting measurements

  • US 5,778,548 A
  • Filed: 05/16/1996
  • Issued: 07/14/1998
  • Est. Priority Date: 05/16/1995
  • Status: Expired due to Term
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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