NORMAL DETECTION METHOD, NORMAL DETECTION DEVICE, AND MACHINING MACHINE PROVIDED WITH NORMAL DETECTION FUNCTION

摘要

A normal detection method for measuring the distance to a measurement subject using one or more distance detectors, and obtaining a normal vector (Vn) on the measured surface of the measurement subject from the obtained measurement result (L), wherein: within a three-dimensional space, the straight line linking a first measurement point (Qa) measured at a first measurement position (Pa) using the distance detector and a second measurement point (Qd) measured at a second measurement position (Pd) different from the first measurement position (Pa) is set as a first vector (Vad); the straight line linking the first measurement point (Qa) and a third measurement point (Qf) measured at a third measurement position (Pf) different from the first measurement position (Pa) and the second measurement position (Pd) as a second vector (Vaf); and a normal vector (Vn) on the measured surface is obtained by determining the vector product of the first vector (Vad) and the second vector (Vaf).

主权项

1. A normal detection method for measuring a plurality of distances to a measurement subject using one or a plurality of distance detectors, and obtaining a normal vector on a measured surface of the measurement subject from the obtained measurement results,
wherein a plurality of measurement points on the measured surface at a plurality of measurement positions are represented with three-dimensional coordinates from the plurality of measurement positions where the distance detectors measure the distances to the measurement subject, and a plurality of measurement results obtained by the distance detectors at the plurality of measurement positions, wherein a straight line connecting, on three-dimensional axes, a first measurement point measured at an arbitrary first measurement position among the plurality of measurement positions by the distance detector and a second measurement point measured at a second measurement position different from the first measurement position is defined as a first vector, wherein a straight line connecting, on three-dimensional axes, the first measurement point and a third measurement point measured at a third measurement position different from the first measurement position and the second measurement position is defined as a second vector, and wherein a normal vector on the measured surface is obtained by determining an outer product of the first vector and the second vector.