The invention relates to a three-dimensional point coordinate measuring method and a measuring apparatus thereof. According to the invention, the problems on the flexibility of the
system and the measuring speed are solved; therefore, the field measurement and the measurement of points that are not easy to be measured can be allowed, and the manufacturing cost can be reduced. According to the scheme of the method, a camera coordinate
system is established; three-dimensional coordinates of marking points are calibrated in a
light pen coordinate
system, wherein the marking points are fixed on a measuring probe; spatial three-dimensional coordinates of implementation measuring time of a set of fixed marking points on the measuring probe are calculated in the camera coordinate system, and three-dimensional coordinates of the set of fixed marking points on the measuring probe are also calculated in a measuring probe coordinate system; and a logical relation of the two coordinate systems of the implementation measuring time is established; a three-dimensional coordinate of a spherical point of a spherical measuring head is calibrated in the measuring probe coordinate system; based on the above results, when the measuring is carried out, a spherical measuring head in the front of the measuring probe is contacted with a measured point to obtain a measuring point, and a coordinate of the measuring point is calculated. The measuring apparatus comprises supports, cameras, a measuring probe, a matched computer and matched
software. The apparatus has two cameras, which are fixed on supports. The spherical measuring head is fixed at the front of a T-shaped rod, and a set of marking points, which are in a T-shaped form, are fixed on the T-shaped rod. According to the invention, the system has good flexibility, and the measuring speed is fast; besides, the measurement of a measuring point that is not easy to be measured is also allowed, and the cost is low.