Device and a method for determining coordinates and orientation
AssigneeABB Flexible Automation, Inc.
InventorOle Arnt Anfindsen
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Abstract
When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.
Claims15
A method for determining coordinates of a point (15) of an object (2) in a reference system of coordinates and the orientation of the object in space in a measuring position (27) assumed by the object, said object being moved from a start position (26) having known coordinates and a known orientation to the measuring position while detecting this movement, said coordinates and the orientation of the object in the measuring position being calculated from information about this detection and about the start position, characterized in that the acceleration and retardation of the object is measured during the movement, and that said coordinates and orientation of the object in said measuring position is calculated from information about this measuring.
A device for determining coordinates of a point (15) of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position (27) assumed by the object, said object being adapted to be moved from a start position (26) having known coordinates and orientation to said measuring position, the device comprising means (20-25) adapted to detect parameters associated with said movement and members (6) adapted to calculate said coordinates and orientation of the object in the measuring position from information from the detecting means about said parameters and about the start position, characterized in that said means comprise accelerometers (20-25) arranged on the object and adapted to detect accelerations and retardations of the object during said movement, and that the calculating member (6) is adapted to calculate said coordinates and orientation of the object in the measuring position on the basis of information from the accelerometers.
Dependencies are inferred from the claim text.