201122416 、發明說明： 【發明所屬之技術領域】 本發明係關於—種三維"座標量職置及其方法 ’尤其是-種可應用於動態量狀三維”座標量 及其方法。 【先前技術】 隨著科技的進步，針對三維空間中物體之形狀、位移 及角度…等量測之需求量也隨之增加，其中，將三維空間 量測運用於車輛缝之運動幾何量_卩為—常見之例子。 由t車輛絲構造及作動方式較騎雜，目此在車輛底盤 =分析及顯_度_目對增加，且車輛缝之運動幾何 堇測，不同於一般之位置量測，除了要求高精度之外，還 劣之量測環境;&，為了獲得更接近實際駕ί 机得絲之反應，則必魏合 擎產生之震動往往會影響量測時的準確性 動能频=^之量·據° _目前針對車輛底盤之 勁心域软體眾多，卻很難可以準確 八 Z藉由實車產生震動之量測，方能準確獲^車^底盤^ 測，二 王鎖傾斜角（ΚΡΙ)…等底盤夫數1角㈤及大 因倾狀量聰鬆無法準確 4 201122416 反應貫際車輛駕駛之情形，而僅能做為靜態校正之參依 據。 夕、 又，目前運用於車輛底.盤量測系統大概可以分成三種201122416, invention description: [Technical field to which the invention pertains] The present invention relates to a three-dimensional "coordinate amount position and its method 'especially a kind of dynamic three-dimensional coordinate amount and its method. With the advancement of technology, the demand for the shape, displacement and angle of objects in three-dimensional space has also increased. Among them, the three-dimensional space measurement is applied to the motion geometry of vehicle seams. For example, the construction and operation of the t-vehicle wire is more difficult to ride, so the vehicle chassis = analysis and display _ _ _ eye pairs increase, and the motion geometry of the vehicle seam is measured, different from the general position measurement, in addition to the requirements In addition to high precision, it is also inferior to the measurement environment; &, in order to get closer to the actual driving machine, the vibration generated by the Weihe engine will often affect the accuracy of the measurement. According to ° _ at present, there are many softwares for the chassis of the vehicle, but it is difficult to accurately measure the vibration of the vehicle by the actual car. Only then can the vehicle be accurately measured. The second king lock tilt angle (ΚΡΙ) ... The number of chassis is 1 degree (5) and the large amount of inclination is not accurate. 4 201122416 Respond to the situation of continuous vehicle driving, and can only be used as a basis for static correction. Xi, again, currently used in vehicle bottom. The system can be divided into three types
雷射干涉儀〃、、、光學CCD影像量測方式〃及、、光學cCD 搭配雷射系統〃；惟，該些量測系統於實車 之情形下，其量測之精確度往往不高，而=丄= 之量測數據，又，欲提升該些量測系統之精確度時，則必 須購買價格昂貴之ϋ材，所花費之成本則相對提高。 舉例而言，習知運用於車輛底盤量測大致可區分為以 下數種： 其一、如美國專利公告第US5675515號「Apparatus and method f〇r determining vehicle wheel alignment measurement from three dimension wheel position and orientations」專利案，其係藉由將一影像感測器配合一升 降台上之疋位點及輪胎上之記號，來進行空間中絕對座標 的計异，且必須透過至少2組以上之計算結果，來量測該 車體之底盤參數。然而，該專利案係利用光學CCD方式來 進行量測，而光學CCD方式容易受到高頻環境的干擾，只 適用於車體靜止狀態之量測，若於動態環境下進行量測， 會導致量測獲得之訊號複雜，而使得後續訊號處理之困難 度增加。 其二、如美國專利公告第US4154531號「Time Base sweep-beam whee] alignment」專利案，其係利用雷射及光 學CCD方式對車輛進行量測，以獲得車輪正確之位移量。 然而，該專利案係利用紅外線雷射及光學CCD方式配合I.: 201122416 測’整組系統複雜成本高，且利料多光學鏡組，未來調 校不便，也容易受環境因素的干擾及影響。 其三、如美國公告第US7089150B2號「Gyr〇 based alignment system」專利案，揭示一種利用—陀螺儀對運輸 工具進行3D角度之量測。然而，該專利案並無法量測車 輪之位移變化，且陀螺儀之精確度雖然不斷地提高，但是 能量測角度之·則相對更小，而無法兼顧高精確度及大 範圍之量測。 “上所述，上述各種針對車輛底盤進行量測之習知三 維空間量測，大致具有紐在動祕境下正確量測、使用 成本高及量測範®小等諸多缺點，故仍有改良之必要。 【發明内容】 本發明目的乃改良上述缺點，以提供一種三維空間座 標量測裝置及其方法，係可於動態環境下量測待測物在空 間中之位移及肖度變化，以獲得制物之空間座標與運動 軌跡，以達到提升空間座標量測精確度的目的。T” 本發明目的係提供一種三維空間座標量測裝置及其 方法丄其整赌構鮮，*需要高成本之光學_即可進 行動態量測，以達到降低使用成本的目的。 奉發明目的係提供一種 ' /工叩至所〗屐置及 方法，係藉由數拉線式傳感器進行量測，避免使用光學 器產生失焦的問題，以確實獲得高精確度之空間座桿= 的目的。 τ 1 根據本發明之三維空間座標量測裝置，包含：一作動 201122416 單元，包含一本體，該本體之一侧形成有一第一基準面， 且該本體相對於該第一基準面的另一側設有一結合部，其 中該第一基準面延伸突出一桿體，在該桿體遠離該第一基 準面之一端形成一基準點；一固定座，具有一第二基準面、 一第一結合部及一第二結合部，該第二基準面係朝向該第 一基準面，以於該第一及第二基準面之間形成一量測空 間，該第一結合部與該基準點於X轴線方向形成一間距， 該第二結合部與該基準點於z軸線方向形成一高度差；一 X感測元件，設置於該第一結合部上並連結該作動單元之 基準點，用以量測該作動單元與該固定座於該X轴線方向 之相對距離；數個Y1感測元件，設置於該第二基準面上 並連結該第一基準面，用以量測該作動單元與該固定座於 該Y軸線方向之相對距離；一 Y2感測元件，設置於該作 動單元之結合部，用以量測一 Y角度差，該Y角度差係指 一待測物設置於該作動單元之結合部時，該待測物以該Y 轴線為軸心作旋轉所偏移之角度；及一Z感測元件，設置 於該第二結合部上並連結該作動單元之基準點，用以量測 該作動單元與該固定座於該Z軸線方向之相對距離。 根據本發明之三維空間座標量測方法，係包含：一架 設步驟，係將一固定座之一第二基準面面對一作動單元之 一第一基準面以形成一量測空間，使該作動單元之一基準 點位於該量測空間内，並將該固定座之數感測元件與該作 動單元對應連結，且將該作動單元結合於一待測物；一定 義步驟，係於該固定座上定義一原點，及在該作動單元上 相對該原點定義數參考點；一感測步驟，感測該待測物帶.rLaser interferometer 〃, ,, optical CCD image measurement method 、, , optical cCD with laser system 惟; However, the measurement system in the case of real vehicles, the accuracy of the measurement is often not high, The measurement data of =丄=, and, in order to improve the accuracy of the measurement systems, the expensive coffins must be purchased, and the cost is relatively increased. For example, the conventional application of the vehicle chassis measurement can be roughly divided into the following types: First, as shown in US Patent Publication No. US5675515 "Apparatus and method f〇r determining vehicle wheel alignment measurement from three dimension wheel position and orientations" In the patent case, by combining an image sensor with a squatting point on the lifting platform and a mark on the tire, the absolute coordinates of the space are calculated, and at least two sets of calculation results must be obtained. The chassis parameters of the vehicle body are measured. However, the patent case uses the optical CCD method for measurement, and the optical CCD method is easily interfered by the high-frequency environment, and is only suitable for the measurement of the static state of the vehicle body. If the measurement is performed under the dynamic environment, the amount will be caused. The signal obtained by the measurement is complicated, and the difficulty of subsequent signal processing is increased. Second, as disclosed in the "Time Base sweep-beam whee" alignment patent of US Pat. No. 4,145,531, which uses a laser and optical CCD method to measure the vehicle to obtain the correct displacement of the wheel. However, the patent case uses infrared laser and optical CCD to cooperate with I.: 201122416 Test 'The whole system is complex and costly, and the multi-optical optics group is inconvenient, and it is easy to be disturbed and affected by environmental factors. . Third, as disclosed in the US Patent No. US7089150B2 "Gyr〇 based alignment system" patent, a measurement of a 3D angle of a vehicle using a gyroscope is disclosed. However, this patent does not measure the displacement of the wheel, and the accuracy of the gyroscope is constantly increasing, but the angle of the energy measurement is relatively small, and it is impossible to achieve high accuracy and wide range measurement. "As mentioned above, the above-mentioned various conventional three-dimensional space measurement for measuring the vehicle chassis has almost many shortcomings such as correct measurement under the dynamic condition, high cost of use and small measurement, and so on. SUMMARY OF THE INVENTION The object of the present invention is to improve the above disadvantages, and to provide a three-dimensional space coordinate measuring device and method thereof, which can measure the displacement and the degree of change of the object under test in a dynamic environment, The space coordinates and motion trajectory of the workpiece are obtained to achieve the purpose of improving the accuracy of the space coordinate measurement. T" The object of the present invention is to provide a three-dimensional space coordinate measuring device and a method thereof, which have a high cost and require high cost. Optical _ can be used for dynamic measurement to achieve the purpose of reducing the cost of use. The purpose of the invention is to provide a '/work-to-worker' setting and method, which is measured by a number of pull-wire sensors, avoiding the problem of using the optical device to generate out-of-focus, so as to obtain a highly accurate space seatpost. = the purpose. τ 1 The three-dimensional space coordinate measuring device according to the present invention comprises: an actuating 201122416 unit, comprising a body, one side of the body is formed with a first reference surface, and the body is opposite to the other side of the first reference surface a joint portion is disposed, wherein the first reference surface extends to protrude from a rod body, and a reference point is formed at one end of the rod body away from the first reference surface; a fixing base having a second reference surface and a first joint portion And a second joint portion facing the first reference surface to form a measurement space between the first and second reference surfaces, the first joint portion and the reference point on the X axis Forming a pitch in the line direction, the second joint portion and the reference point form a height difference in the z-axis direction; an X sensing element is disposed on the first joint portion and connected to the reference point of the actuating unit for measuring Measure the relative distance between the actuation unit and the fixing base in the X-axis direction; a plurality of Y1 sensing elements are disposed on the second reference surface and coupled to the first reference surface for measuring the actuation unit and the Fixing seat on the Y axis a relative distance; a Y2 sensing component is disposed at a joint portion of the actuating unit for measuring a Y angle difference, wherein the Y angle difference is when a test object is disposed at a joint portion of the actuating unit, An angle at which the object is rotated by the rotation of the Y-axis; and a Z sensing element disposed on the second joint and connected to a reference point of the actuation unit for measuring the actuation unit and The relative distance of the mount in the Z-axis direction. The method for measuring a three-dimensional space coordinate according to the present invention comprises: a erecting step of facing a first reference surface of a fixed base to a first reference surface of an actuating unit to form a measuring space, so that the actuating One of the reference points of the unit is located in the measurement space, and the number sensing element of the fixed seat is coupled to the actuating unit, and the actuating unit is coupled to a test object; a defining step is performed on the fixed seat Defining an origin, and defining a reference point relative to the origin on the actuating unit; a sensing step of sensing the strip of the object to be tested.
V 201122416 動該作動單元所產生的位移及角度變化，使該作動單元帶 動該數感測元件作動，並量測該數感測元件之感測數據； 及一分析步驟，係依據該感測數據計算該作動單元與該固 定座之間的相對關係，以獲得該數參考點之空間座標及運 動執跡。 【實施方式】 為讓本發明之上述及其他目的、特徵及優點能更明顯 易僅’下文特舉本發明之較佳實施例，並配合所附圖式， 作詳細說明如下： 本發明以下所述之「X軸線」係指一平行於水平面之 第—轴線；以下所述之「Y軸線」係指與該第一軸線在水 平面成90。夾角之第二軸線；以下所述之「Z軸線」係指 與3亥水平面之第一轴線、第二軸線相互垂直之第三轴線。 这X轴線、γ軸線及Z軸線如各圖所示，係屬熟乘 j技蟄者所可以理解。此外，以下所述之「卡氏座標」則 乂 °亥X軸線、γ軸線、Z軸線所標示之三維空間座標， 方1氧戒悉该技藝者所可以理解。 ’' 請參照第丨圖所示，本發明較佳實施例之三維空 裝置包含-作動單幻、—固定座2、— χ感測元 、數個”感測元件4、-Υ2感測聽5及—ζ_ 牛6。該X感測元件3、數個γι感測元件4及 =係設置於該固定座2上，並_㈣單元 之ΪΙ2感測元件係設置於該作動為便於; 針對本發明之二維空間座標量測裝置的各元件之 —8—— 201122416 配置方式及相對位置，係以該三維空間座標量測裝置處於 未受致動之 >初始位置〃下進行說明。 請參照第1及2圖所示，該作動單元1包含一本體11 、一桿體12及一結合部13。其中： 該本體11具有一第一基準面】11及一配重元件112， 該第一基準面111形成於該本體11之一表面，且該第一基 準面111於該初始位置〃時，該第一基準面111較佳位 在該卡氏座標之X — Z平面上。該配重元件112設置於該 本體11之底端，且該配重元件112較佳係選自具有足夠重 量之配重塊或平衡錘，使該配重元件112可以受到較大地 心引力的影響，進而避免該本體η沿該y軸線產生大範 圍之轉動偏移量。 該桿體12係突出於該本體11之第一基準面111，且 該桿體12較佳沿該Υ軸線方向延伸，其中該桿體12之一 端連結於該本體Π，而其另一端係為一自由端且形成有一 基準點121。 該結合部13係設置於該本體11相對於該第一基準面 111之另一表面，使該結合部13與該桿體12分別位於該 本體11之相對兩側。其中，該結合部13具有一軸承（未 標示），以使該作動單元1經由該軸承與一待測物7可轉動 地結合。 請參照第1圖所示，該固定座2包含一第二基準面21 、一第一結合部22及一第二結合部23。其中： 該第二基準面21係朝向該第一基準面111，且較佳位 於該卡氏座標之Χ — Ζ平面上，以便於該二基準面111、21.…. L ·> —9 — 201122416 之間界定一、、量測空間，，，使該 位於該第-基準面ill及第1準70之基準點121 m μ 3之間的、、量測空間 間距。其中，該間距於哕 η之間具有一 '該'Ύ位差η),/ 形成一、位差D2 ^ γ, , ^, 即代表該作動單元1無m定座2於 。玄γ軸線方向之相對距離。 5玄第一結合部22係供該X感測元件3結合並位於兮 '量測空間"外，且該第一結合部22與該作動單元k = 準點1211間具有一間距。其中，該間距係於該X軸線方 向升V成X位差Dr,，該、、χ位差D1//即代表該作動單 ^ 1與該11定座2於該X軸線方向之相對距離。 該第二結合部23係供該Z感測元件6結合並亦位於 該、、量測外，且該第二結合部23與該作動單元、] 之基準點121 <間具有一高度差。其中，該高度差係於該 ^轴線方向形成〜、位差D3"，該、、Z位差D3"即代表 该作1單元1與該固定座2於該Z轴線方向之相對距離。 °月二如弟1及2圖所示，該X感測元件3係設置於註 固定座2之第一結合部22,並與該作動單元1之基準點121 互相連結，用以量測該、、X位差D1 〃。更詳言之，在本實 知例當中，該X感測元件3係選自一拉線式傳感器，使該 X感測元件3具有一 χ鋼繩31 ,並使該χ鋼繩31與該基 準.’、'i 121連、纟。，且該連結方式係熟悉該技藝者所可以理解 。、、藉此，藉由量洌該X鋼繩31之長度變化，即可獲得該 X位差D1之變化。舉例而言，當該作動單元1產生位 移拉動該X鋼繩31時，該X鋼繩31即帶動該χ感測元 201122416 &之傳動機構（圖未繪示）同步轉動以適當改變該x鋼 7 31之長度，使該X鋼繩3】維持一預定張力；又，當該 皁元1位移反向移動時，該X感測元件3之回旋機構 圖未繪示）將自動收回該X鋼繩31，且於該X鋼繩31 ^過程巾亦轉該預定張力。藉此，透過賴呈該預定 張力，X鋼繩31，可以準確量測該、、χ位差m//。 署第1至3 _示’該數個Y1感測元件4係設 二〜固疋座2之第二基準面21上，並與該作動單元】 =一基柄m互姆結；又，該數個Y1感測元件4 =於同—直線上。更詳言之，在本實補當巾，該數個 ，敎件4包含-Y11感測元件4]、— γΐ2感測元件 2及一 Υ13感測元件43，該數感測元件4卜42及43係 ㈣:二基準面21上圍繞形成三角形；其中，該Y11感 =件4U立於該第二基準面21之頂端，而使該二感測元 件42、43位於該第二基準面21相對_ 測元件41、42、43係用以量測該位差此’該二^ 用以量測一 7角度差Τ1"，該7角度差 Μ以相二基準面23為基準，該第—基準面⑴ 以6亥Ζ軸線為軸心作旋轉所偏移之角度。 元件3相卜„測兀件4卜42、43係選自與該X感測 =件3相同之拉線式傳感器，使該數感測元件4卜42、43 =具有-γη、Υ】2及γ】3鋼繩4]1、421及43 该數鋼繩411、421、W與該第-基㈣⑴連，，且Ϊ ^ ' 421 ' 431之作動情形係如上所述 不縣述。紐，透過保持呈該狀張力之數鋼繩… I 5 i 201122416 411、421及431，即可準確量測該、、Y位差D2〃，以及， 透過保持呈該預定張力之二鋼繩421及431，即可準確量 測該''Z角度差ΤΓ之變化。 再者，當該數鋼繩41卜421、431與該第一基準面111 連結時，係於該第一基準面111形成一三角形區域，且該 作動單元1之基準點121較佳靠近該三角形區域内部的中 心位置，可避免該數鋼繩411、421、431與該鋼繩31互相 干涉。 該Y2感測元件5係設置於該結作動單元1之結合部 13，用以量測一角度差T2〃，該角度差T2〃係指 該待測物7設置於該作動單元1之結合部13時，該待測物 7以該Υ軸線為轴心作旋轉所偏移之角度。 請參照第1及3圖所示，該Ζ感測元件6係設置於該 固定座2之第二結合部23,並與該作動單元1之基準點121 互相連結，用以量測該位差D3〃。更詳言之，在本實 施例當中，該Z感測元件6係選自與該X感測元件3相同 之拉線式傳感器，使該Z感測元件6具有一 Z鋼繩61，並 使該Z鋼繩61與該基準點121連結，且該連結方式及Z 鋼繩61之作動情形係如上所述，於此不再贅述。藉此，透 過保持呈該預定張力之Z鋼繩61，可以準確量測該'位 差 D3"。 請參照.第6圖所示，本發明較佳實施例之三維空間座 標量測方法係藉由上述三維空間座標量測裝置執行，該三 維空間座標量測方法包含一架設步驟S1、一定義步驟S2 、一感測步驟S3及一分析步驟S4。藉由上述步驟流程， 12 — 201122416 以於動態環境下進行空間座標 空間座標值。 I奸兩精確度之 ，請參，第6圖所示，並配合參照前述第]至 發明較佳實施例之二唯六間庙4 ^ ，係射固定Μ^ 測方法之架設步驟 ^將如疋座2之弟二基準面2】面對該作 土準面】11形成t亥、'量測空間〜以將該 測元件3、“與該作動單元〗對應連結， ，、《X乍動早兀1以如上所 ，且該Y2感測元件5係已設置於該結合部13;=: 結合部13結合於該待測物7 (例如 曰^ 經由該結合部13之軸承 έ 士八。鹑屮，典士 〜、0%#測物7可轉動地 。口 3胃5㈣嶋7旋轉作糾 元！產生位移及角度變化，並可使 ^^亥作動早 測物7形成空轉，以避免該 =相對該待 3卜川、42]、431、6]浐絲 ㈣作動該數鋼纖 、421 4Ή、" 疋轉，而導致該數鋼繩3卜411 421、431、61打結或斷裂。 門广二1、=2至6圖所示，本發明較佳實施例之三维* 間座k測方法之定義步驟S2，係於該㈣座㈣二 原點〇'及在該作動單元1上相對該、、原點〇,心： 個麥考點，該、、原點〇、位於該 面!1上;:數個、考點〃包含-1-參考::， 弟二芩考點，嗜、、筮— ^ 1之基準點⑵1、、第二/去考點A/係仅於該作動單元 該第-基準面m連接二 係位於該桿體12與 碏此，以該、、原點〇"為基準〜 —13 — 201122416 翏考點A”及、、第二參考點B"之空 ，即可量測該、、第 間座標值。 驟了進—步確倾續闕财驟s3及分析步 ',當該作動單元丨未受致動而位於 位置，，時，於該架設步驟81中，該作 、第一= 面111與該固定座2之笛.住Λ 弟基準 之弟一基準面23較佳形成互相平行， y =鋼繩411、421、431具有相同之長度。以及，於 二中y tS2中’該1點〇"較佳位於該第二基準面 之中〜點’且該、、原點〇'、、第一基準點及、二 ί 於同一直線上’且較佳沿該γ轴線方向。藉 卢二1動1與該固定座2兩者於空間中的相對關係 化狀態，以方便後續各步驟之進行、分析計 请爹照第1及6圖所示，本發明較佳實施例之三唯处 間座標量财法之❹彳步驟S3，係感_待測物7帶動= 作動早兀1所產生的位移及肢變化，使該作動單元 動該數劇元件3、4、5、6作動，並量測該數感測元们 / 4、5、6之感測數據"。更詳言之，該數、、感測數據,， 係包含該、、X位差Dr、、、γ位差D2'、、z位差收、、、z ^度差T1及γ角度差丁2"。舉例而言，當該待測物7 π動該作動單元i由該、、初始位置，/偏移時，係將該數感 測το件3、4、5、6作動情形分別進行說明如下： ⑴請參照第卜2及4圖所示，該作動單元i係帶 動該X感測it件3之X鋼繩3丨產生長度變化，藉由量測 該X鋼繩31的長度，可獲得該作動單元丨與該固定座2 —14 201122416 之間的、、χ位差Dl〃 ’即代表該作動單元1與該固定座2 於該X軸線方向的相對距離。 ^ (2)請參照第1、3及5圖所示，該作動單元1係帶 動戎數鋼繩4Π、421、431產生長度變化，藉由量測該數 ^ 421、431的長度，可獲得該作動單元1與該固 之間的Y位差D2〃 ’即代表該作動單元1與該固 疋座2於該γ轴線方向的相對距離。 動兮（3)請芩照第1、3及5圖所示，該作動單元！係帶 該^感冽7^^件6之Z鋼繩61產生長度變化，藉由量測 之間^^ 61的長度’可獲得該作動單元1與該固定座2 於該7 2位差從，即代表該作動單元1與該固定座2 〇Λ轴緣方向的相對距離。 動該二鋼1、2及4圖所示’該作動單元1係帶 川不=431產生長度變化，可知該第一基準面 421、431:/—基準面21互相平行，藉由量測該二鋼繩 作_所:==該作動單元1以該ζ轴線為轴心 對於該固定 U τ】，即代表該作動單元1相 ⑴=::該2轴線為轴心作旋轉的角度。 心 相對 孩作動單二^所示，藉由該相物7旋轉帶動 ，件5===轉，藉由量測該 該作二:r、Y角度差Τ2〃，即代表該 請參，=該“線為轴心作旋轉的角度。 襟量測方法二6Γ示，本發明較佳實施例之二 方决之分析步驟S4，係依據該數感測⑽ 201122416 、5、6之、'感測數據〃，分析該作動單元1與該固定座2 於三維空間中的相對關係，以獲得該數參考點A、B之空 間座標及運動執跡。更詳言之，係於該感測步驟S3中以一 '固定時間間隔"量測該數感測元件3、4、5、6之、感測 數據"，該 ''固定時間間隔"可為0.1秒、0.5秒或1秒… 等，係熟悉該技藝者所可以理解。藉此，可獲得該數感測 元件3、4、5、6於不同時間點之''感測數據〃，並藉由該 數''、感測數據"進行求解一 ''X角度差Τ3〃。藉此，可以 推得該、第一參考點Α"及 '第二參考點Β"於不同時間 點之空間座標值，以獲得該''第一參考點Α"及 ''第二參 考點Β〃於三維空間中之運動軌跡。其中，該Αχ角度差 Τ3"係指該作動單元1相對於該固定座2，以該X轴線為 軸心作旋轉的角度。 本發明之三維空間座標量測裝置及其方法，係感測該 待測物帶動該作動單元所產生的位移及角度變化，以於動 態環境下量測該數感測元件之 '"感測數據〃，並可分析該作 動單元與該固定座於三維空間中的相對關係，以獲得該數 參考點之空間座標及運動軌跡，使得本發明之三維空間座 標量測裝置及其方法具有達到提升空間座標量測精確度的 的功效。 本發明之三維空間座標量測裝置及其方法，其係藉由 該固定座上設置數感測元件，且該數感測元件係選自拉線 式傳感器，並使該拉線式傳感器之鋼繩與該作動單元對應 連結，以藉由該數鋼繩之長度的變化，獲得該作動單元與 該固定座於三維空間中的相對關係，其整體結構簡單，不 16 — 201122416 需要高成本之光學儀器即可進行動態量測，使得本發明之 三維空間座標量測裝置及其方法具有達到降低使用成本的 功效。 本發明之三維空間座標量測裝置及其方法，係藉由數 拉線式傳感器進行量測，該數拉線式傳感器係分別連結該 作動單元與固定座，當該作動單元產生大範圍之偏移時， 可避免產生如光學儀器失焦的問題，使得本發明之三維空 間座標量測裝置及其方法具有確實獲得高精確度之空間座 標量測的功效。 雖然本發明已利用上述較佳實施例揭示，然其並非用 以限定本發明，任何熟習此技藝者在不脫離本發明之精神 和範圍之内，相對上述實施例進行各種更動與修改仍屬本 發明所保護之技術範疇，因此本發明之保護範圍當視後附 之申請專利範圍所界定者為準。 _V 201122416, the displacement and the angle change generated by the actuating unit, the actuating unit drives the sensing element to actuate, and measure the sensing data of the sensing component; and an analyzing step is based on the sensing data Calculating a relative relationship between the actuation unit and the mount to obtain a space coordinate and a motion trace of the reference point. The above and other objects, features and advantages of the present invention will become more apparent from the < The term "X-axis" means a first axis parallel to the horizontal plane; the "Y-axis" as described below means 90 at the horizontal plane with the first axis. The second axis of the included angle; the "Z axis" described below refers to a third axis that is perpendicular to the first axis and the second axis of the 3H horizontal plane. The X-axis, the γ-axis, and the Z-axis are as shown in the figures, which can be understood by those skilled in the art. In addition, the "Card's coordinates" described below are the three-dimensional coordinates indicated by the X-axis, the γ-axis, and the Z-axis, which can be understood by those skilled in the art. '' Please refer to the figure, the three-dimensional empty device of the preferred embodiment of the present invention includes - actuation single magic, - fixed seat 2, - χ sensing element, several "sensing elements 4, - Υ 2 sense listening 5 and - ζ _ cattle 6. The X sensing element 3, a plurality of γι sensing elements 4 and = are arranged on the fixing base 2, and the ΪΙ (4) unit 感 2 sensing element is arranged for the operation for convenience; The arrangement and relative position of each component of the two-dimensional space coordinate measuring device of the present invention is explained by the fact that the three-dimensional coordinate measuring device is in an unactuated initial position. Referring to Figures 1 and 2, the actuating unit 1 includes a body 11, a rod 12 and a joint portion 13. The body 11 has a first reference surface 11 and a weight element 112. A reference surface 111 is formed on a surface of the body 11. When the first reference surface 111 is at the initial position, the first reference surface 111 is preferably located on the X-Z plane of the Cartesian coordinate. The weight element 112 is disposed at the bottom end of the body 11, and the weight element 112 is preferably selected from the following The weight of the counterweight or the counterweight causes the weight element 112 to be affected by a large gravity, thereby preventing the body η from generating a wide range of rotational offset along the y-axis. The rod 12 protrudes from the a first reference surface 111 of the body 11, and the rod body 12 preferably extends along the axis of the crucible, wherein one end of the rod body 12 is coupled to the body crucible, and the other end of the rod body 12 is a free end and a reference point is formed. The joint portion 13 is disposed on the other surface of the body 11 relative to the first reference surface 111 such that the joint portion 13 and the rod body 12 are respectively located on opposite sides of the body 11. The joint portion 13 has a bearing (not shown), such that the actuating unit 1 is rotatably coupled to a test object 7 via the bearing. Referring to FIG. 1, the mount 2 includes a second reference surface 21 and a a first joint portion 22 and a second joint portion 23. wherein: the second reference surface 21 faces the first reference surface 111, and is preferably located on the Χ-Ζ plane of the Cartesian coordinate to facilitate the two reference Face 111, 21..... L ·> —9 — 201122416 define a And measuring the distance between the first reference plane ill and the reference point 121 m μ 3 of the first quasi-70, wherein the spacing has a ' between 哕η The 'Ύ position difference η), / forms a, the difference D2 ^ γ, , ^, that is, the operating unit 1 has no m fixed seat 2 in the direction of the γ γ axis direction. 5 Xuan first joint 22 The X sensing element 3 is combined and located outside the 兮 'measuring space', and the first bonding portion 22 and the actuating unit k = punctual point 1211 have a spacing. wherein the spacing is in the X axis direction V is the X-difference Dr, and the χ-difference D1// represents the relative distance between the actuation unit 1 and the 11-seat 2 in the X-axis direction. The second joint portion 23 is for the Z sensing element 6 to be combined and located outside the measurement, and the second joint portion 23 has a height difference from the reference point 121 < of the actuation unit. Wherein, the height difference is formed in the ^ axis direction by ~, the difference D3", and the Z-disparity D3" represents the relative distance between the unit 1 and the holder 2 in the Z-axis direction. As shown in FIG. 1 and FIG. 2, the X sensing element 3 is disposed on the first joint portion 22 of the injection mount 2 and is coupled to the reference point 121 of the actuation unit 1 for measuring the , X position difference D1 〃. More specifically, in the present embodiment, the X sensing element 3 is selected from a wire-type sensor such that the X sensing element 3 has a steel wire 31 and the steel wire 31 is Benchmark .', 'i 121, 纟. And the manner of connection is understandable to those skilled in the art. Thereby, the change in the X-difference D1 can be obtained by measuring the change in the length of the X steel cord 31. For example, when the actuation unit 1 generates a displacement to pull the X steel rope 31, the X steel rope 31 drives the transmission mechanism (not shown) of the χ sensing element 201122416 & synchronous rotation to appropriately change the x The length of the steel 7 31 is such that the X steel rope 3 is maintained at a predetermined tension; and when the displacement of the soap element 1 is reversed, the rotation mechanism of the X sensing element 3 is not shown) will automatically withdraw the X The steel cord 31, and the process wire is also rotated by the predetermined tension. Thereby, the X-ray rope 31 can accurately measure the 、-difference m// by the predetermined tension. The first to third _ shows that the plurality of Y1 sensing elements 4 are disposed on the second reference surface 21 of the second solid block 2, and interact with the actuating unit] = a base handle m; Several Y1 sensing elements 4 = on the same line. More specifically, in the present invention, the plurality of components 4 include a -Y11 sensing element 4], a γΐ2 sensing element 2, and a Υ13 sensing element 43, the number sensing element 4 And the 43 series (4): the two reference faces 21 are formed around the triangle; wherein the Y11 sense=4U stands on the top of the second reference surface 21, and the two sensing elements 42, 43 are located on the second reference surface 21 The relative _ measuring elements 41, 42, 43 are used to measure the difference. The '2' is used to measure a 7-angle difference Τ 1 ", the 7-angle difference Μ is based on the phase 2 reference plane 23, the first The reference plane (1) is offset by the rotation of the 6-inch axis. The component 3 is connected to the measuring element 4, 42 and 43 is selected from the same pull-wire type sensor as the X sensing=piece 3, so that the number sensing element 4 42 , 43 = has -γη, Υ 2 And γ] 3 steel ropes 4] 1, 421 and 43. The number of steel ropes 411, 421, W is connected to the first base (four) (1), and the operation of Ϊ ^ ' 421 ' 431 is not described above. By maintaining the number of steel ropes in this tension... I 5 i 201122416 411, 421 and 431, the Y, D difference D2〃 can be accurately measured, and the two steel ropes 421 holding the predetermined tension can be 431, the change of the ''Z angle difference ΤΓ' can be accurately measured. When the number of steel wires 41 421 and 431 are coupled to the first reference surface 111, a first reference surface 111 is formed. A triangular area, and the reference point 121 of the actuating unit 1 is preferably close to a central position inside the triangular area, so as to prevent the number of steel wires 411, 421, 431 from interfering with the steel wire 31. The Y2 sensing element 5 is arranged The joint portion 13 of the actuating unit 1 is configured to measure an angular difference T2 〃, which is when the object to be tested 7 is disposed at the joint portion 13 of the actuating unit 1 The object to be tested 7 is rotated at an angle offset by the axis of the crucible. Referring to FIGS. 1 and 3, the sensing element 6 is disposed on the second joint portion 23 of the fixing base 2, And connecting to the reference point 121 of the actuation unit 1 for measuring the difference D3 〃. In more detail, in the embodiment, the Z sensing element 6 is selected from the X sensing element 3 The same pull-wire type sensor has the Z sensing element 6 having a Z steel wire 61, and the Z steel wire 61 is coupled to the reference point 121, and the connection mode and the operation of the Z steel wire 61 are as described above. As described above, the 'difference D3" can be accurately measured by maintaining the Z steel cord 61 having the predetermined tension. Referring to FIG. 6, a preferred embodiment of the present invention The three-dimensional coordinate measuring method is performed by the three-dimensional space coordinate measuring device, and the three-dimensional space coordinate measuring method comprises a setting step S1, a defining step S2, a sensing step S3 and an analyzing step S4. Step flow, 12 — 201122416 For spatial coordinate space coordinates in a dynamic environment. For the accuracy, please refer to Fig. 6, and with reference to the above-mentioned first] to the second embodiment of the invention, the second installation of the four temples 4 ^, the erection method of the fixed Μ ^ test method ^ will be like the 疋 2 The second base of the second base 2] facing the ground surface] 11 forms thai, 'measurement space~ to connect the measuring element 3, "corresponding to the actuating unit", "X乍动早兀1 In the above, and the Y2 sensing element 5 is already disposed on the joint portion 13; =: the joint portion 13 is coupled to the object to be tested 7 (for example, the bearing 8 via the joint portion 13).鹑屮,典士~,0%#The measuring object 7 can be rotated. Mouth 3 stomach 5 (four) 嶋 7 rotation for correction! The displacement and the angle change are generated, and the dynamometer 7 can be idling to avoid the =1 4 Ή, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4 " twirling, resulting in the number of steel rope 3 411 421, 431, 61 knotted or broken. The method of defining the three-dimensional *-seat k-measurement method of the preferred embodiment of the present invention is based on the (four) seat (four) two origins 及' and on the actuating unit 1 Relative to the original, the origin, heart: a wheat test point, the, the original point, located in the face! 1;; several, test points -1- include -1- reference::, brother two test sites, addiction,基准—the reference point (1)1 of the ^1, and the second/going test point A/ are only for the actuating unit. The first datum plane m is connected to the shank 12 and is located here, and the origin is 〇" For the reference ～13 — 201122416 翏考点 A” and the second reference point B", you can measure the value of the and the coordinates of the second coordinate. Steps into the step - step to continue the s3 and analysis steps 'When the actuating unit is not actuated and is in position, in the erection step 81, the work, the first = face 111 and the flute of the fixed seat 2 23 preferably formed parallel to each other, y = steel cords 411, 421, 431 have the same length. And, in the second y tS2, 'the one point 〇 " is preferably located in the second reference plane ~ point ' and The , the origin 〇 ', the first reference point and the two ί on the same line 'and preferably along the γ axis direction. The relative relationship between the Lu 2 1 and the fixed seat 2 in space The state is to facilitate the subsequent steps, and the analysis is as shown in FIGS. 1 and 6. The third embodiment of the preferred embodiment of the present invention is the step S3 of the scalar quantity method. 7 Drive = Actuate the displacement and limb changes generated by the early squat 1 so that the actuating unit moves the number of components 3, 4, 5, 6 and measure the sense elements / 4, 5, 6 The measured data " In more detail, the number, the sensed data, includes the, X-difference Dr,, γ-difference D2', z-difference, and z^degree difference T1 And the gamma angle difference is 2". For example, when the object to be tested 7 π moves the actuation unit i from the , initial position, / offset, the number is sensed το 3, 4, 5, 6 actuation conditions are described as follows: (1) Please refer to Figures 2 and 4, the actuation unit i is used to drive the X-sensing element 3 of the X steel rope 3 丨 to produce a length change, by measuring the X steel The length of the rope 31, The position difference D1〃 between the actuating unit 丨 and the fixed seat 2-14 201122416 represents the relative distance between the actuating unit 1 and the fixed seat 2 in the X-axis direction. ^ (2) Please refer to As shown in the first, third and fifth figures, the actuating unit 1 drives the number of turns of the steel wires 4, 421, and 431 to change the length. By measuring the length of the numbers 421 and 431, the actuating unit 1 can be obtained. The Y-difference D2〃 between the solids represents the relative distance between the actuating unit 1 and the fixed seat 2 in the direction of the γ-axis. The movement (3), as shown in Figures 1, 3 and 5, The actuation unit! The length of the Z steel rope 61 that is attached to the sensing element 7 is changed by the length of the ^^61, and the difference between the operating unit 1 and the fixing base 2 is obtained. That is, it represents the relative distance between the actuating unit 1 and the axis of the fixed seat 2 in the axial direction. As shown in the figure of Figures 2, 2, and 4, the length of the actuating unit 1 is not changed. 431, the first reference planes 421, 431: / - the reference plane 21 are parallel to each other, and the measurement is performed. The second steel rope is made: == The actuation unit 1 is centered on the axis of the 对于 axis for the fixed U τ], that is, the phase of the actuation unit 1 (1) =:: the 2 axis is the axis of rotation . The heart is opposite to the child's action, as shown by the rotation of the phase, the piece 5=== turns, by measuring the two: r, Y angle difference Τ2〃, which means the reference, = The line is the angle at which the axis rotates. The measurement method is shown in FIG. 6 , and the analysis step S4 of the preferred embodiment of the present invention is based on the number sensing (10) 201122416, 5, 6 Measure the data 〃, analyze the relative relationship between the actuation unit 1 and the fixed seat 2 in three-dimensional space, to obtain the space coordinates and motion traces of the reference points A and B. More specifically, the sensing step is performed. In S3, the sensing data 3, 4, 5, 6, and the sensing data are measured at a 'fixed time interval', and the ''fixed time interval' can be 0.1 second, 0.5 second or 1 second. ... and so on, it is understandable to those skilled in the art, whereby the sensing elements 3, 4, 5, 6 can be obtained at different time points by the ''sensing data 〃, and by the number '' The measured data " is solved by a ''X angle difference Τ3〃. By this, the first reference point Α" and the 'second reference point Β" can be derived at different time points. a coordinate value to obtain a motion trajectory of the ''first reference point Α" and ''second reference point 三维 in a three-dimensional space, wherein the Αχ angle difference Τ3" refers to the actuation unit 1 relative to the fixed seat 2, the angle of rotation of the X-axis as the axis. The three-dimensional coordinate measuring device and method thereof of the present invention senses the displacement and angle change generated by the object to be tested to drive the dynamic unit Measuring the '"sensing data 该 of the sensing element in the environment, and analyzing the relative relationship between the actuating unit and the fixing seat in the three-dimensional space to obtain the space coordinates and the motion trajectory of the reference point, so that The three-dimensional space coordinate measuring device and the method thereof have the effect of improving the accuracy of the space coordinate measurement. The three-dimensional space coordinate measuring device and the method thereof are provided by the number sensing on the fixing seat An element, wherein the number of sensing elements is selected from a wire-type sensor, and the steel wire of the wire-type sensor is coupled to the actuating unit to obtain the action by the change of the length of the number of steel wires The relative relationship between the unit and the fixed seat in the three-dimensional space is simple, and the optical instrument can be dynamically measured without requiring a high-cost optical instrument, so that the three-dimensional space coordinate measuring device and the method thereof of the present invention can be achieved. The utility model of the invention relates to a three-dimensional space coordinate measuring device and a method thereof, which are measured by a plurality of pull-wire sensors, which are respectively connected to the actuating unit and the fixed seat, when the action is performed When the unit generates a wide range of offsets, problems such as out-of-focus of the optical instrument can be avoided, so that the three-dimensional space coordinate measuring apparatus and method of the present invention have the effect of realizing high-accuracy space coordinate measurement. While the invention has been described in connection with the preferred embodiments described above, it is not intended to limit the scope of the invention. The technical scope of the invention is protected, and therefore the scope of the invention is defined by the scope of the appended claims. _
—17 201122416 【圖式簡單說明】 第1圖：本發明之三維空間座標量測裝置之立體圖。 第2圖：本發明之三維空間座標量測裝置之上視圖。 第3圖：本發明之三維空間座標量測裝置之侧視圖。 第4圖：本發明之三維空間座標量測裝置之作動情形上 視圖。 第5圖：本發明之三維空間座標量測裝置之作動情形側 側圖。 第6圖：本發明之三維空間座標量測方法之步驟流程方 塊圖。 【主要元件符號說明】 〔本發明〕 1 作動單元 11 本體 111 第一基準面 112 配重元件 12 桿體 121 基準點 13 結合部 2 固定座 21 第二基準面 22 第一結合部 23 第二結合部 3 X感測元件 31 X鋼繩 4 Y1感測元件 201122416 41 ΥΠ感測元件 42 Y12感測元件 43 Y13感測元件 5 Y2感測元件 6 Z感測元件 61 Z鋼繩 7 待測物 0 原點 B 第二參考點 D2 Y位差 D3 411 Y11鋼繩 421 Y12鋼繩 431 Y13鋼繩 A 第一參考點 D1 X位差 Z位差—17 201122416 [Simple description of the drawings] Fig. 1 is a perspective view of the three-dimensional coordinate measuring device of the present invention. Figure 2: Top view of the three-dimensional space coordinate measuring device of the present invention. Figure 3: Side view of the three-dimensional space coordinate measuring device of the present invention. Fig. 4 is a top view showing the operation of the three-dimensional coordinate measuring device of the present invention. Fig. 5 is a side elevational view showing the operation of the three-dimensional coordinate measuring device of the present invention. Fig. 6 is a block diagram showing the steps of the three-dimensional coordinate measurement method of the present invention. [Description of main component symbols] [Invention] 1 Actuating unit 11 Main body 111 First reference surface 112 Counterweight element 12 Rod 121 Reference point 13 Joint portion 2 Fixing seat 21 Second reference surface 22 First joint portion 23 Second joint 3 X sensing element 31 X steel wire 4 Y1 sensing element 201122416 41 ΥΠ sensing element 42 Y12 sensing element 43 Y13 sensing element 5 Y2 sensing element 6 Z sensing element 61 Z steel rope 7 object to be tested 0 Origin B Second reference point D2 Y Displacement D3 411 Y11 Steel rope 421 Y12 Steel rope 431 Y13 Steel rope A First reference point D1 X-position difference Z-position difference