Method and device for generating geolocated sensor data from a coordinate measuring machine

Abstract

Method for generating georeferenced sensor data from a coordinate measuring machine (2), wherein a sensor (3) generates sensor data points (SDP), wherein a sensor data set (SDS, SDS_0, ..., SDS_14) is generated, wherein the sensor data set (SDS, SDS_0, ..., SDS_14) comprises at least one sensor data point (SDP) and at least one sensor data time point (SDZ), wherein the sensor (2) generates a trigger signal (TS) at a trigger frequency, wherein the trigger signal (TS) is transmitted to a device for determining a sensor position, wherein a position data set (PDS, PDS_0, ..., PDS_8) is determined at or after the receipt of the trigger signal (TS), wherein the position data set (PDS, PDS_0, ..., PDS_8) comprises at least one position data point (PDP) and one position data time point (PDZ), wherein, depending on the sensor data time point (SDZ) and the position data time point (PDZ), an assignment of position data points (PDP) to sensor data points (SDP) is determined, wherein a located sensor data record (vSDS_0,...,v_SDS_14) is generated, which comprises at least one sensor data point and the position data point assigned to this sensor data point, wherein for a sensor data record (SDS, SDS_0, ..., SDS_14) to which no position data record (PDS, PDS_0, ..., PDS_8) can be assigned, an estimated position data point is determined, wherein the located sensor data record (vSDS_0,..., vSDS_14) comprises at least the sensor data point(s) and the estimated position data point and / or wherein in a sequence of position data records (PDS, PDS_0, ..., PDS_8) a missing position record (PDS_6) is detected, whereby a replacement position record is created and inserted into the sequence in place of the missing position record (PDS_6).

Description

[0001] The invention relates to a method and a device for generating localized sensor data from a coordinate measuring machine.

[0002] Coordinate measuring machines (CMMs), which can move a sensor relative to the object, are used to measure objects. One task in such a measurement is to assign a position, particularly the position of the sensor or a moving part of the CMM, to the sensor data so that the data can later be evaluated in a desired application, such as measuring the object. This assignment is also known as synchronization.

[0003] There are methods in which an image acquisition device generates so-called trigger signals, whereby, upon or after the receipt of a trigger signal, a position of the moving part of the coordinate measuring machine to which the sensor is attached is determined and assigned to the sensor data during the generation of which the trigger signal was generated.

[0004] Methods for correcting a constant time offset between generating a trigger signal and actually determining the position are also known.

[0005] EP 1 754 951 B1 describes an improved method for the simultaneous calibration and qualification of a non-contact probe on a localization device, using a single artifact, synchronizing the values ​​of the non-contact probe and those of the localization device, using parameters that are determined simultaneously with the calibration and qualification.

[0006] Furthermore, methods are known that serve for synchronization when an image acquisition device generates sensor data with a variable frequency.

[0007] However, the known methods exhibit inaccuracies, particularly when the sensor is accelerated around the time a trigger signal is generated, as the detected position then does not correspond to the actual position for all pixels. Furthermore, the known methods disadvantageously assume that all pixels of an image acquisition device were created at the same time. Additionally, it is possible that certain synchronization information, such as timestamps, is missing, which also reduces the accuracy of the assignment.

[0008] DE 100 20 842 A1 relates to a coordinate measuring machine or a machine tool with a control and evaluation unit, and at least one measuring sensor operating independently of the control and evaluation unit, which can be moved by the mechanics of the coordinate measuring machine or the machine tool relative to a workpiece to be measured in the three coordinate directions.

[0009] US 2015 / 0 043 008 A1 concerns an improved non-contact optical scanning probe.

[0010] US 2015 / 0323300A1 concerns the field of contact detection for measuring sensors, in particular the identification of when a workpiece should be measured by a measuring sensor based on contact detection.

[0011] The technical problem is to create a method and a device for generating georeferenced sensor data from a coordinate measuring machine that improves the quality of the assignment of positions to sensor data and / or enables improved evaluation of the sensor data.

[0012] The solution to the technical problem is achieved by the objects having the features of claims 1 and 14. Further advantageous embodiments of the invention are set forth in the dependent claims.

[0013] A method for generating georeferenced sensor data from a coordinate measuring machine is proposed. Georeferenced sensor data can refer to at least one data point generated by a sensor, to which at least one positional piece of information, for example in the form of position data, has been assigned. The sensor can be attached to the coordinate measuring machine, in particular to a movable part of the machine, or be part of it. The coordinate measuring machine allows the sensor to be moved relative to the object being measured.

[0014] A sensor generates sensor data points. A sensor data point can, for example, represent a property, in particular an intensity, of a signal generated by the sensor.

[0015] The sensor can be, in particular, an optical sensor. For example, the sensor can be a laser scanning device, especially a so-called line scanner, or another image acquisition device.

[0016] A sensor data point can have a value, which can be encoded by one or more bits, for example. If the sensor is an optical sensor, a sensor data point can be a pixel of the image produced by the optical sensor.

[0017] The value of a data point can refer to the information or content encoded by the data point.

[0018] A sensor data set is then generated, comprising at least one sensor data point and at least one sensor data point in time. The sensor data point in time represents the point in time at which the at least one sensor data point, or all (i.e., multiple) sensor data points of the sensor data set, were generated. In particular, the sensor can generate the sensor data sets at a sensor data set frequency, which can also be referred to as the data set frequency. The sensor data frequency can be constant or variable.

[0019] A sensor data set can comprise exactly one sensor data point and exactly one sensor data point time. Preferably, however, the sensor data set comprises multiple sensor data points. In this case, each of the sensor data points, and thus the sensor data set, can be assigned the same sensor data point time. It is also possible, however, for a sensor data set to comprise multiple sensor data points, each of which is assigned different data point-specific sensor data points time.

[0020] The sensor data time can be generated in a time system of the sensor.

[0021] Furthermore, the sensor data record may also include a sensor data record number. This number represents the number of sensor data records generated from a defined start time, such as sensor activation or another specified point in time. Thus, the sensor data record number can be the counter value of a sensor data record counter.

[0022] The sensor then generates a trigger signal at a specific trigger frequency. This trigger frequency can differ from the data frequency, and in particular, can be lower. The trigger signal is transmitted to a device for determining the sensor's position. The sensor's position can be determined, for example, based on the position of the coordinate measuring machine (CMM), specifically based on the position of its movable axes. For this purpose, the CMM can be calibrated, allowing for a known correlation between the CMM's position and the sensor's position. The sensor position can refer to the sensor's position, or it can refer to both the sensor's position and orientation.

[0023] The position of the coordinate measuring machine, in particular of a movable part of the coordinate measuring machine, can be determined by or dependent on axis positions, wherein the movable part and / or the object being measured is movable about and / or along the axes. For example, a coordinate measuring machine can comprise one or more linear axes and / or one or more rotary axes. For example, the coordinate measuring machine can include a swivel joint by which the sensor can be pivoted about one or more rotary axes. The coordinate measuring machine can also include a rotary table by which the object being measured can be rotated about one or more rotary axes. The coordinate measuring machine can also include linear drives with linear axes along which the sensor and / or the object being measured can be moved.

[0024] For each type of axis sequence of a coordinate measuring machine, the sensor position can be described in the form of a so-called sensor POSE. This can encode the position and / or the orientation of the sensor. Furthermore, a sensor POSE can encode a position and orientation with 6 degrees of freedom. For example, the sensor POSE can comprise 6 values, where three of the values ​​each encode a translational component and each of the remaining three values ​​each encodes a rotational component along / about three independent axes. The sensor POSE can be given in the form of a 3x1 position vector and / or a 3x3 rotation matrix or in the form of a 4x4 matrix.

[0025] Thus, a sensor position can also be determined depending on the position of the coordinate measuring machine, in particular a moving part of the coordinate measuring machine.

[0026] Furthermore, a position data record is determined upon or after receiving the trigger signal. The position data record comprises at least one position data point and one position data time. The position data point represents or encodes the position of the sensor or coordinate measuring machine at the time of the position data time. A position data point can, for example, represent or encode one or more axis positions or a sensor position.

[0027] The position data time can, in particular, be the time of receipt of the trigger signal.

[0028] The position data time can be determined within a time system of the device used to determine a sensor position. This time system can differ from the time system of the sensor itself.

[0029] The position record can also include a position record number, where the number represents the number of position records generated since the specified start time or another specified point in time. Thus, the position record number can also be the counter reading of a position record counter.

[0030] It is possible to convert the sensor data time into a time system corresponding to the position data time, or vice versa. It is also possible to convert both the sensor data time and the position data time into a common reference time system. This can be achieved, for example, through a zero adjustment, in which the time of a common start for the acquisition of position and sensor data is subtracted from the respective data times. This can be done, in particular, during initialization.

[0031] Furthermore, depending on the sensor data time and the position data time, an assignment of position data to sensor data is determined, in particular an assignment of position data points to the sensor data points of a sensor data record. An assignment of one or more sensor data points to a position data point can also be determined. A geolocated sensor data record is then generated, which includes at least one sensor data point and the position data point assigned to that sensor data point. Thus, sensor data is assigned to position data.

[0032] For example, at least one sensor data point of a sensor data set can be assigned a position data point of a position data set whose position data time corresponds to the sensor data time of the sensor data set or does not deviate from it by more than a predetermined amount.

[0033] For assigning position data points to sensor data points, it is also possible, for example, to determine the position data records whose position data timestamps lie before and after the sensor data timestamp of a selected sensor data record and which have a minimal time difference from this sensor data timestamp. An interpolated position data point of the sensor can then be determined based on the position data points of these position data records. A suitable interpolation method, such as linear interpolation or other interpolation techniques known to those skilled in the art, can be used to determine the interpolated position data point. The geolocated sensor data record can then include the sensor data and the position data point.

[0034] Of course, the reverse approach is also possible, whereby sensor data sets are determined whose sensor data timestamps lie both after and before a position data timestamp of a selected position data set and exhibit a minimal time difference from it. Then, one or more interpolated sensor data points can be determined, with the located sensor data set then comprising the position data point and the interpolated sensor data point(s).

[0035] This advantageously enables a precise correlation between sensor data and position data, thereby increasing the quality of the geolocated sensor data. This, in turn, advantageously allows for improved evaluation of the geolocated sensor data. For example, the sensor can perform a more precise optical measurement of an object.

[0036] In another embodiment, a sensor data set comprises a plurality of sensor data points, each of which is assigned a data point-specific sensor data time. In this case, the number of sensor data times can be equal to the number of data points. It is possible for different sensor data points to be assigned different sensor data times. However, this is not mandatory. The essential point is that it is possible to assign a data point-specific sensor data time to each sensor data point.

[0037] Thus, it is possible not only to assign a common sensor data time to a predetermined number of sensor data points, for example all pixels of an image, but also to assign a data point-specific sensor data time to each sensor data point, in particular to each pixel of an image.

[0038] Alternatively, a subset of the plurality of sensor data points is assigned a subset-specific sensor data time. In this case, the data point-specific sensor data times assigned to the sensor data points of the subset can be the same. Thus, all sensor data points of a subset of sensor data points can be assigned a subset-specific sensor data time.

[0039] In the case of an optical sensor, the data point-specific sensor data point time can, in particular, be the time of reading a pixel of the optical sensor. A subset-specific sensor data point time can be the time of reading a vector of several pixels or a matrix of several pixels.

[0040] For example, a subset can include all or a predetermined number of pixels in a column or multiple columns of an image. Alternatively or cumulatively, a subset can include all or a predetermined number of pixels in a row or multiple rows of an image.

[0041] Particularly with so-called HDR sensors (high dynamic range sensors), it is possible to set different exposure times for different columns, resulting in different readout times for those columns. It is therefore also possible to divide a sensor data set generated by such a sensor into several sensor data subsets, where each sensor data point (pixel) within such a subset is assigned the same readout time. The number of sensor data subsets can correspond to the number of pixels read out at the same time. For example, the number of sensor data subsets can correspond to the number of columns or rows.

[0042] It is generally assumed that optical sensors, especially CMOS or CCD sensors, use a so-called global shutter. This means that all pixels of the sensor are read out at the same time, for example in the form of a matrix encompassing all pixels.

[0043] However, it has been demonstrated, particularly through appropriate experiments, that for some optical sensors, even with a global shutter, some pixels of the optical sensor are read out earlier than other pixels. This time offset between the readout times of different pixels can be constant. The time offset can also depend on the exposure time, which may be user-defined. Furthermore, the time offset can depend on the ambient brightness.

[0044] Furthermore, the time offset can also depend on an operating state of the optical sensor, which can be set by a user, for example. One such operating state could be a so-called HDR mode (high dynamic range mode). In such a mode, the readout time can vary depending on the light intensity. It is also possible that the exposure time for different columns of pixels on an optical sensor, and thus the readout time for these columns, varies.

[0045] However, it is possible, particularly through suitable calibration methods, to determine the time offset between different readout times of different pixels.

[0046] It is also possible that a subset of the majority of sensor data points is assigned the same sensor data time, with each subset comprising at least two sensor data points. A further subset of sensor data points may, in turn, be assigned the same sensor data time, but different from the first. This can occur, in particular, when pixels from different pixel columns or rows of the optical sensor are read out at the same time.

[0047] Reading out can mean that, depending on a physical quantity, especially a voltage, a quantitative value, especially a digitized value, is generated.

[0048] This method thus advantageously compensates for time discrepancies between the readout times of different sensor data points, which can lead to inaccuracies in subsequent evaluation of the generated image. In particular, as explained in more detail below, it is possible to generate a time-referenced sensor data set in which all sensor data points are assigned the same sensor data time, even though pixel values ​​were read out at different times. If the sensor is an optical sensor, a time-referenced image can therefore be generated in which all pixels are assigned the same sensor data time. This time-referenced image thus represents the ideal image when using the so-called global shutter.

[0049] In a further embodiment, a time-referenced sensor data set is determined, wherein each sensor data point of this time-referenced sensor data set is assigned a reference time. Furthermore, values ​​or content of the sensor data points of the time-referenced sensor data set are determined, and in particular modified, as a function of the reference time. The reference time can, for example, be the earliest sensor data time among the plurality of sensor data times. Preferably, the reference time lies between the earliest and latest sensor data times among the plurality of sensor data times; particularly preferably, the reference time is the midpoint of the plurality of sensor data times. It is also possible that the reference time corresponds to the time of generation of a trigger signal.

[0050] The reference time can be the dataset-specific sensor data time. In other words, the reference time can be assigned to all sensor data points of the time-referenced sensor dataset as their sensor data time. The fact that the values ​​of the sensor data points are determined as a function of the reference time can, in particular, mean that the values ​​of the sensor data points are changed depending on a time offset between the respective datapoint-specific sensor data time and the reference time. Suitable modification methods can be used for this purpose.

[0051] Overall, it is advantageous that a sensor data set, particularly one representing an image, can be generated in which there is no time offset between the individual sensor data points, thus simulating the generation of all sensor data points at the same time, namely the reference time. This, in turn, advantageously enables improved evaluation of the time-referenced sensor data set, for example, improved optical measurement of an object, since the inaccuracies resulting from the time offsets of individual sensor data points can be minimized.

[0052] In another embodiment, motion information from the sensor is determined. This motion information can be, in particular, acceleration information, e.g., an acceleration value, and / or velocity information, e.g., a velocity value.

[0053] It is possible to determine the motion information based on temporally successive position information from the sensor or coordinate measuring machine. In particular, temporally successive axis positions can be evaluated as position information to determine the motion information. Preferably, this position information can be filtered, especially using phase-correct low-pass filtering. This filtering advantageously ensures that the signal waveform is not distorted or is only minimally distorted.

[0054] Furthermore, the values ​​of the sensor data points in the time-referenced sensor dataset are determined based on the motion information and a difference (time offset) between the data point-specific sensor data points and the reference time. If the sensor is moving during the generation of the sensor data points, the position of the sensor data point at the reference time can be calculated based on the aforementioned difference and the motion information, particularly the velocity information. The time-referenced sensor dataset can then be generated in such a way that each sensor data point is assigned newly determined, position-correct values.

[0055] This can also be referred to as distortion correction. For example, if an image is generated by an optical sensor with multiple pixels, a new pixel coordinate can be determined for each pixel, depending on the time offset and motion information. This new pixel coordinate differs from the original pixel coordinate. However, it is possible that this pixel coordinate does not exactly correspond to an existing (actual) coordinate in the image, and in particular, that it lies between two existing pixel coordinates. In this case, suitable distortion correction methods must be applied. For example, the value of the corrected pixel can be distributed across the neighboring, existing coordinates, for instance, using suitable interpolation methods.

[0056] This advantageously results in a further improvement in the quality of located sensor data, as motion parameters that were present during the generation of the sensor data points are taken into account.

[0057] In a preferred embodiment, at least one quality factor is further assigned to the located sensor data set, wherein the quality factor, and in particular its value, is determined depending on the quality of the mapping of position data to sensor data. The located sensor data set can include the quality factor. The quality factor can thus be referred to as a location-specific quality factor.

[0058] It is possible that the sensor data set includes a sensor-specific quality factor. This factor can, for example, represent the quality of the sensor data points. If, for instance, it is known that the sensor generates inaccurate sensor data points in certain operating modes, then a quality factor representing this lower quality can be assigned to the sensor data sets generated in these operating modes.

[0059] Alternatively or cumulatively, a position data record can include a position-specific quality factor. This factor can, for example, represent the quality of the position data points. If, for instance, it is known that positions are determined with lower accuracy in certain temperature ranges than in other temperature ranges, a quality factor representing this lower quality can be assigned to the position data records generated in the corresponding temperature ranges.

[0060] Thus, the quality factor can be a measure of the inaccuracy of sensor data points or position data points.

[0061] It is possible that one or both of the aforementioned quality factors are weighted by the location-specific quality factor. In particular, a resulting quality factor can thus be determined from all quality factors and then assigned to the located sensor data set.

[0062] Alternatively, the location-specific quality factor can of course be determined independently and assigned to the located sensor data set.

[0063] In the following, a low quality factor can refer to a quality factor that represents low quality, while a high quality factor represents a quality factor that represents high quality.

[0064] Assigning a quality factor, representing the quality of the mapping, advantageously enables improved evaluation of the geolocated sensor data. For example, sensor data from a geolocated sensor dataset with a low quality factor, particularly a quality factor below a predetermined threshold, may not be considered at all or only to a limited extent during evaluation. If the geolocated sensor datasets are used, for instance, for image-based determination of dimensional parameters of an object during optical measurement, then geolocated sensor datasets with low quality factors cannot be considered during the corresponding image processing. Alternatively, image features determined from such sensor datasets may not be considered at all or only to a lesser extent than image features from sensor datasets with a higher quality factor during evaluation.

[0065] It is also possible that located sensor data sets whose quality factor is less than a predetermined threshold will be deleted and therefore not available for subsequent evaluation.

[0066] In another embodiment, the position data record includes the quality factor. This can mean that a quality factor is determined and added to the position data record during or after the determination of the position data record, in particular a position data point.

[0067] It is possible that the device for determining a sensor position is provided by, or corresponds to, a control unit of the coordinate measuring machine. This control unit can determine the positions of the coordinate measuring machine, in particular the axis positions described above, and / or a sensor position at a predetermined frequency, for example, 20 kHz. Furthermore, this control unit can control the movement of the coordinate measuring machine and thus also of the sensor. Control signals can be generated, for example, at a lower frequency, such as 1 kHz. If the device for determining the position, i.e., the control unit described above, receives a trigger signal, the current position of the coordinate measuring machine or the sensor position can be copied or written to a position memory. The position memory can, for example, be configured as a register.This register can also be referred to as a latch register. Furthermore, the position memory can include a storage location for the position, the position data time, and, if applicable, the position data number.

[0068] The position memory may have a limited storage capacity. For example, it may only contain one position data point, one position data time, and, if applicable, one position data number. The currently stored content can be overwritten when a new position data record is copied or saved to the position memory.

[0069] The position memory can be connected to a buffer memory via signals and / or data, whereby a position data record stored in the position memory is transferred to the buffer memory at a different frequency, for example, a frequency of 1 kHz, and stored there. The buffer memory can store multiple position data records. Naturally, several such buffer memories can also be present.

[0070] It is possible, particularly if the previously described control unit is under heavy computing load, that a position data record currently stored in the position memory is not transferred to a buffer in time before the control unit receives the next trigger signal. In this case, one or more position data records are missing from a sequence of sequential position data records. This absence can be detected based on the position data timestamps of the position data records or depending on the position data record number. If such a missing position data record is detected, a replacement position data record can be generated and inserted into the sequence in place of the missing position data record. A replacement position data point could, for example, be...The replacement position data can be determined by interpolation, using position data records generated before and after the missing one. Furthermore, a quality factor can be assigned to such a replacement position data record, with the quality factor representing low quality.

[0071] Such missing position data records will occur more frequently the more often trigger signals are generated, i.e., the higher the trigger frequency.

[0072] Because the position data set includes the quality factor, inaccuracies in position determination can be taken into account quickly and computationally easily.

[0073] In another embodiment, motion information from the sensor is determined. This has already been explained previously. Furthermore, the quality factor is determined based on this motion information.

[0074] Preferably, the acceleration (acceleration value) of the sensor is determined, whereby the quality represented by the quality factor decreases with increasing acceleration. The acceleration can, in particular, be the acceleration at a position data point or a sensor data point. This advantageously results in sensor data acquired at high acceleration being assigned a low quality factor in the located sensor data set. This advantageously demonstrates that, in particular, sensor data points of a plurality of sensor data points were not acquired, or not necessarily acquired, at the exact position determined upon receipt of the trigger signal at high accelerations.

[0075] Alternatively or cumulatively, a sensor speed (speed value), specifically a speed at the sensor data time or the trigger time, is determined, whereby the quality represented by the quality factor decreases with increasing speed. Thus, at high speeds, the located sensor data set can be assigned a low quality, and at low speeds, a higher quality. It has been shown that the recorded timestamps become noisy depending on the speed, with the noise increasing with speed. This can also be described as omnidirectional jitter. Therefore, a speed-dependent distortion of the position data time results.This advantageously results in a lower quality factor being assigned to located sensor data whose position data point was recorded at higher speeds, meaning that these data cannot be considered in the subsequent evaluation, or only to a reduced extent.

[0076] It is possible that motion information, especially acceleration and / or speed, is determined solely on the basis of position data points that were determined at or after the receipt of a trigger signal.

[0077] In this context, a predetermined functional relationship can exist between the quality factor and motion information, in particular acceleration and / or speed, especially a linear or exponential relationship.

[0078] In a further embodiment, for a sensor data set to which no position data set can be assigned, an estimated position data point is determined, wherein the located sensor data set comprises at least the sensor data point(s) and the estimated position data point. Here, estimation refers to a computational determination of the position data point or the sensor position that is represented or encoded by the position data point. For example, the position data point can be determined by interpolation, whereby the interpolation can be performed depending on the sensor data time as well as depending on position data sets that were generated before and after the sensor data set.

[0079] A sensor data set cannot be assigned a position data set, in particular if a sensor data time of the sensor data set does not correspond to a position data time or if the position data time deviates from the existing position data times by more than a predetermined amount.

[0080] A quality factor can be assigned to a spatially determined sensor data set, whereby the maximum quality represented by such a quality factor is a lower quality, i.e., smaller than a maximum quality factor. Alternatively or cumulatively, the quality factor can be determined depending on the accuracy of the interpolation, for example, depending on the magnitude of the time offset between the sensor data time and the position data time that is closest in time to the sensor data time.

[0081] This advantageously allows for the determination of located sensor data sets even for sensor data sets that cannot be directly assigned to a position data set, and these can also be evaluated for quality.

[0082] In another embodiment, a missing position record is detected in a sequence of position records. A missing position record can be detected, for example, if the difference between the position record number of a position record and the position record number of the immediately preceding position record is greater than 1 or greater than the increment used for the position record number. Alternatively or cumulatively, a missing position record can be detected if the time difference between a position record time and the immediately preceding position record time is greater than a predetermined threshold, where the threshold can depend on a current frequency, in particular a trigger frequency.

[0083] Next, a replacement position record is created and inserted into the sequence in place of the missing position record. This replacement position record cannot, in particular, contain position data points or a position data time. However, the replacement position record can, for example, contain a position record number.

[0084] However, it is preferable to estimate a position data point of the replacement position dataset, particularly by interpolation. It is also possible to estimate a position data point in time, again particularly by interpolation. For this purpose, the position data points and position data points from position datasets generated before and after the missing position dataset can be used. The estimated position data points and position data points can then become part of the replacement position dataset.

[0085] This advantageously allows a corresponding position data set to be generated even if a trigger signal is "lost," and this substitute position data set can then be used for subsequent geolocation. Generally, it can be assumed that such a substitute position data set enables higher quality geolocated sensor data than if the missing position data set, and thus the associated sensor data, were disregarded.

[0086] In another embodiment, a defined quality factor is assigned to the substitute item data record, where the defined quality factor represents low quality. In particular, the low quality can be lower than the maximum quality. In other words, a defined low-quality factor is assigned to the substitute item data record, representing a lower quality than the maximum quality.

[0087] This allows the substitute position data set to be advantageously used to generate located sensor data sets, while simultaneously generating information that the substitute position data set has a lower quality compared to an actually recorded position data set.

[0088] As explained above, this means that such a localized sensor data set cannot be taken into account, or can only be taken into account to a lesser extent, in a subsequent evaluation.

[0089] In another embodiment, an estimated position data point is determined for the substitute position data set. This and its corresponding advantages have been explained previously.

[0090] In another embodiment, the sensor data set frequency is varied while the trigger frequency remains constant. If the sensor is an optical sensor, the image generation frequency can be varied. This is possible, for example, if the generated sensor data sets are preprocessed, such as by the sensor itself or a corresponding evaluation unit. In this case, the sensor data set can therefore include preprocessed sensor data points. If, for example, due to an operating scenario, it is not necessary to preprocess all sensor data points of a sensor data set, the sensor data set frequency can be higher than in the case where all sensor data points of a sensor data set must be preprocessed.For example, if only a section of a generated image is evaluated and preprocessed, the corresponding sensor data record frequency can be higher than in the case where all sensor data points have to be preprocessed.

[0091] The proposed method advantageously enables the generation of high-quality, localized sensor data even when sensor data set frequencies are changing.

[0092] In a further embodiment, a DC component of the time difference and / or a change in the time difference between the sensor data time and the position data time is determined and compensated. This can also be referred to as drift correction. The DC component can be determined, in particular, by zeroing the sensor data time and the position data time, where zeroing can refer to a comparison of the times at the defined start time. During a runtime of the method, it is possible that the sensor data time and the position data time elapse at different rates, for example, due to inaccuracies in the timers used, such as quartz elements.

[0093] The sensor data time can be determined within the sensor's time system. Similarly, the position data time can be determined within the time system of the device used to determine the sensor position. The corresponding conversion can be performed depending on the zero adjustment and, if necessary, also on changes in the time difference.

[0094] This advantageously further increases the quality of the located sensor data, as inaccuracies caused by equal-proportion and drift in the assignment of position data to sensor data are also minimized.

[0095] In another embodiment, a time offset between the generation of the sensor data and the reception of the trigger signal is determined and compensated. For example, the position data time can encode a time that corresponds to the sum of the trigger signal reception time and a predetermined duration. The predetermined duration can include a component or be equal to a value that depends on the generation time of the trigger signal during the exposure period. For example, if the trigger signal is generated at the beginning of the exposure period, the predetermined duration can be half the exposure period. Additionally, the predetermined duration can include one or more further components that depend, for example, on the sensor's processing time and / or the processing time of the positioning device. These components can be determined by calibration.The compensation can be performed in a central evaluation unit. This compensation can also be described as compensation for so-called directed jitter.

[0096] This advantageously results in a further improvement in the accuracy of the assignment.

[0097] In another embodiment, multiple sensor data sets are stored sequentially in a sensor data buffer. Alternatively or cumulatively, multiple position data sets are stored in a position data buffer. This was explained previously. In particular, a predetermined number of data sets generated immediately one after the other can be stored in the respective buffer.

[0098] Storing data in buffers advantageously simplifies the detection of missing sensor data records and / or missing position data records. It also simplifies interpolation, for example, to estimate substitute position data points. For instance, data records can be stored in a buffer such that, upon detection of a missing position data record, a predetermined number, e.g., at least two, of position data records generated prior to the missing record are stored in the buffer.

[0099] A device for generating georeferenced sensor data from a coordinate measuring machine is further proposed. The device comprises at least one sensor, preferably an optical sensor. It also comprises at least one device for determining a sensor position and at least one evaluation device. Sensor data points can be generated by the sensor. Furthermore, at least one sensor data set can be generated, for example, by the sensor or a sensor evaluation device. The sensor data set can be generated, in particular, with a sensor data set frequency, which can be constant or variable. The sensor data set further comprises at least one sensor data point and at least one sensor data point in time. Trigger signals can also be generated, in particular by the sensor, with a trigger frequency, wherein a trigger signal can be transmitted to the device for determining the sensor position.Furthermore, a position data record can be determined upon or after receipt of the trigger signal, wherein the position data record comprises at least one position data point and one position data time. Furthermore, depending on the sensor data time and the position data time, the evaluation unit can determine an assignment of position data points to sensor data points, whereby a geolocated sensor data record can be generated that comprises at least one sensor data point and the position data point assigned to this sensor data point.

[0100] Preferably, at least one quality factor can be assigned to a located sensor data set, wherein the quality factor can be determined depending on the quality of the assignment. This can also be done by the evaluation unit.

[0101] The device can include a sensor evaluation unit, which is connected to the sensor via signals and / or data. Furthermore, the sensor evaluation unit can evaluate sensor data, e.g., preprocess it. The sensor evaluation unit can, for example, be implemented using one or more microcontrollers, such as a PC. The sensor evaluation unit can, for example, perform preprocessing of sensor data.

[0102] Furthermore, the sensor evaluation unit can perform buffered storage of sensor data sets.

[0103] Furthermore, the device can include a control and evaluation unit for the coordinate measuring machine, which is connected to the coordinate measuring machine via signals and / or data. The position determination device can be part of this control and evaluation unit.

[0104] The control and evaluation unit can include or provide a position data record memory and a buffer memory for position data records.

[0105] The described sensor data evaluation unit and / or the control and evaluation unit of the coordinate measuring machine can be connected to the evaluation unit via data and / or signal technology. All units can include one or more microcontrollers. Each unit can also include one or more memory or storage devices.

[0106] The evaluation unit can include or provide a buffer memory for sensor data sets and a buffer memory for position data sets. Furthermore, the evaluation unit can include or provide a buffer memory for geolocated sensor data sets.

[0107] The device advantageously enables the performance of a method according to one of the embodiments described in this disclosure. Thus, the device is designed such that such a method can be carried out by the device.

[0108] The invention is explained in more detail using an exemplary embodiment. The figures show: Fig. 1 a schematic block diagram of a device according to the invention, Fig. 2 a schematic flowchart of a method according to the invention, Fig. 3 a further schematic flowchart of a method according to the invention.

[0109] In the following, identical reference symbols denote elements with the same or similar technical characteristics.

[0110] In Fig. Figure 1 shows a schematic block diagram of a device 1 according to the invention. The device 1 comprises a coordinate measuring machine 2 with a sensor 3, which can in particular be designed as an optical sensor. A measuring table 4 is also shown, on the surface of which a measuring object 5 is arranged, which is measured by means of the sensor 3. The sensor 3 can be moved by means of the coordinate measuring machine along mutually perpendicular spatial directions x, y, z, in particular along linear axes. A vertical direction z can be oriented parallel to a gravitational direction and opposite to a gravitational force.

[0111] The following describes an exemplary embodiment in which sensor 3 is an optical sensor, in particular an image acquisition device or a laser scanner. Of course, the descriptions can also be applied to other sensors, whether contactless or contact-based.

[0112] Sensor 3 generates sensor data points SDP. A sensor data point SDP can, for example, represent an intensity value. A sensor data point SDP can comprise a predetermined number of bits. Furthermore, a sensor data set SDS, SDS_0, ..., SDS_5 is generated. In the present embodiment, the sensor data set SDS, SDS_0, ..., SDS_5 is generated by sensor 3. However, it is also possible for the sensor data set SDS, SDS_0, ..., SDS_5 to be generated by a sensor evaluation unit 6. The sensor data sets SDS, SDS_0, ..., SDS_5 can be generated at a constant or variable frequency. The sensor data set SDS, SDS_0, ..., SDS_5 comprises exactly one or more sensor data points SDP. Furthermore, the sensor data set SDS, SDS_0, ..., SDS_5 includes a sensor data set counter SDSZ and a sensor data time point SDZ.The sensor data time point (SDZ) is a time at which a single sensor data point (SDP) or multiple sensor data points (SDP) were generated. In . Fig. Figure 1 shows that the sensor data set SDS, SDS_0, ..., SDS_5 comprises only one sensor data point SDP. Of course, the sensor data set SDS, SDS_0, ..., SDS_5 can also comprise multiple sensor data points SDP.

[0113] The sensor data set SDS, SDS_0, ..., SDS_5 is then transmitted to a sensor evaluation unit 6, which is connected to the sensor 3 via signal and / or data transmission. The sensor evaluation unit 6 can include or provide a buffer 7 (sensor data set buffer) for sensor data sets SDS_0, ..., SDS_5, in which sensor data sets SDS_0, SDS_1, SDS_2, SDS_3, SDS_4, SDS_5 generated in immediate succession can be stored. A buffer here refers to a storage area for multiple data sets. Naturally, the buffer 7 can store more or fewer than the six sensor data sets SDS_0, ..., SDS_5 shown in the exemplary embodiment.

[0114] Furthermore, the sensor evaluation unit 6 can perform preprocessing of the sensor data records SDS_0, ..., SDS_5, in particular the sensor data points SDP. However, this is not mandatory.

[0115] The sensor evaluation unit 6 is connected to a central evaluation unit 8 via signal and / or data transmission. The central evaluation unit 8 includes or provides a further buffer 9 for sensor data records SDS_0, ..., SDS_5. The sensor data records SDS_0, ..., SDS_5 can be transferred from the sensor evaluation unit 6 to the further buffer 9 of the central evaluation unit 8, for example via a TCP connection.

[0116] Of course, it is also conceivable that the sensor data sets SDS from sensor 3 are transferred directly to the central evaluation unit 8 and, for example, to its buffer 9.

[0117] The diagram further shows that sensor 3 generates a trigger signal TS. The trigger signal TS can be generated with a predetermined trigger frequency. The trigger signal TS is then transmitted to a control and evaluation unit 10 of the coordinate measuring machine 2. The control and evaluation unit 10 is used to control the coordinate measuring machine 2, in particular for motion control.

[0118] The diagram shows that the control and evaluation unit 10 of the coordinate measuring machine 2 is connected to the coordinate measuring machine 2 via signals and / or data. In particular, position information from movable axes of the coordinate measuring machine 2, e.g., in the form of axis positions, can be transmitted from the machine to the control and evaluation unit 10 of the coordinate measuring machine 2. Upon receipt of a trigger signal TS, or with a predetermined time delay after its receipt, a position data record PDS is generated. This record comprises a position data point PDP, a position data record counter PDSZ, and a position data time point PDZ. The position data point PDP represents a position of the coordinate measuring machine 2, preferably a sensor position, where the sensor position can denote a spatial position and spatial orientation of the sensor 3.

[0119] In Fig. Figure 1 shows that the position data record PDS is stored in a position register memory PRS, whereby only a single position data record PDS can be stored in the position register memory PRS. If a new trigger signal TS is received, the currently stored position data record PDS is overwritten with a new position data record PDZ.

[0120] Furthermore, the control and evaluation unit 10 includes or maintains a first buffer 11 for position data records PDS_0, ..., PDS_3. Position data records PDS_0, PDS_1, PDS_3 are stored in this first buffer 11 and read from the position register memory PRS in immediate succession. This reading can be performed at a predetermined frequency, for example, 1 kHz.

[0121] Depending on the trigger frequency and the computational load of the control and evaluation unit 10, a so-called lost trigger signal event can occur. In such a case, a position data record PDZ stored in the position register memory PRS is overwritten before it has been transferred to the buffer 11.

[0122] Furthermore, the control and evaluation unit 10 of the coordinate measuring machine 2 is connected to the central evaluation unit 8 via signal and / or data communication, for example via a TCP connection. This central unit can include or provide a further buffer 12 for position data records PDS_0, ..., PDS_3, into which the position data records PDS_0, ..., PDS_3, which are stored in the buffer 11 of the control and evaluation unit 10 of the coordinate measuring machine 2, are transferred.

[0123] Depending on the sensor data times SDZ and the position data times PDZ of the sensor data records SDS_0, ..., SDS_5 and position data records PDS_0, ..., PDS_3 stored in buffers 9 and 12, geolocated sensor data records vSDS_0, vSDS_1, vSDS_2, vSDS_3, vSDS_4, vSDS_5 can be generated, where such a geolocated sensor data record vSDS_0, ..., vSDS_5 comprises sensor data points SDP and the position data points PDP assigned to these sensor data points SDP. The geolocated sensor data records vSDS_0, ..., vSDS_5 can be stored in a buffer 14 for these geolocated sensor data records vSDS_0, ..., vSDS_5.

[0124] These geolocated sensor data sets vSDS_0, ... vSDS_5 can then be made available for further applications. For this purpose, the central evaluation unit 8 can have a data transmission interface via which the geolocated sensor data sets vSDS_0, ... vSDS_5 can be transmitted to other units, e.g., a unit for determining dimensional quantities.

[0125] The determination of the located sensor data sets vSDS_0, ..., vSDS_5 can be carried out by a computing unit 13 of the central evaluation unit 4.

[0126] In the case where a sensor data set SDS generated by sensor 3 comprises only a single sensor data point SDP, the sensor evaluation unit 6 can, for example, determine a time-referenced sensor data set comprising a plurality of sensor data points SDP, whereby each of these plurality of sensor data points SDP can be assigned a common reference time as sensor data time SDZ. Of course, it is also conceivable that such a time-referenced sensor data set is generated by sensor 3.

[0127] If sensor 3 is an optical sensor, then a sensor data point (SDP) can represent a pixel of the generated image. A sensor data set (SDS) can contain exactly one pixel and a pixel-specific sensor data point in time.

[0128] In this case, a time-referenced image with a predetermined number of pixels can be generated, with each pixel assigned a reference time. Furthermore, the values ​​of the pixels in the time-referenced image are determined as a function of the reference time, specifically as a function of the time difference between the time the corresponding value is generated (readout time) and the reference time. In particular, the values ​​of the pixels in the time-referenced image can be determined as a function of motion information and a difference between the pixel-specific sensor data times and the reference time.

[0129] Motion information can be determined, for example, by the control and evaluation unit 10 of the coordinate measuring machine 2. In particular, acceleration and velocity information or values ​​of the coordinate measuring machine 2, especially of moving parts, and thus also of the sensor 3, can be determined based on the position information. This information can be transmitted, for example, to the sensor 3 via a signal and / or data connection (not shown) and / or to the sensor evaluation unit 6 via a corresponding signal and / or data connection (not shown). Naturally, the motion information can also be transmitted to the central evaluation unit 8.

[0130] In Fig. Also not shown is a filtering device for filtering the acquired or transmitted position information, wherein the filtering device can, in particular, perform phase-correct low-pass filtering of the position information. The filtering device can be provided, for example, by the central evaluation unit 8.

[0131] Depending on the motion information, velocity information, for example in the form of a velocity vector, can be calculated in a sensor plane, particularly an image plane. This can be achieved through a defined transformation, which may have been determined beforehand through experiments. It is then possible to determine the positional shift, e.g., in the form of an image position shift, of each sensor data point (SDP) as a function of the velocity vector and the time offset between the data point-specific sensor data point time and the reference time. To determine a time-referenced sensor data set, particularly a time-referenced image, it may then be necessary to perform a rectification correction, for example by interpolation, to obtain a raster representation from the positionally shifted sensor data points.

[0132] Furthermore, it is possible that a located sensor data set vSDS_0, ..., vSDS_5 has a quality factor QF (see Fig. 2) includes, where the quality factor QF is determined depending on the quality of the mapping and assigned to, in particular added to, the corresponding located sensor data set vSDS_0, ..., vSDS_5. A high quality factor QF can represent high quality and a low quality factor QF can represent low quality of the located sensor data set vSDS_0, ..., vSDS_5.

[0133] Here, a quality factor QF can be determined depending on motion information, in particular acceleration and / or velocity information. The motion information can be information about the movement, especially the acceleration and / or velocity, with which sensor 3 was moved at the corresponding sensor data time SDZ or position data time PDZ.

[0134] The motion information can be transmitted from the control and evaluation unit 10 of the coordinate measuring machine 2 to the central evaluation unit 8. The central evaluation unit 8 can also determine the motion information based on the position data points (SDP) stored in buffer 12.

[0135] In particular, a lower quality factor QF can be assigned to a localized sensor data set vSDS_0, ..., vSDS_5 if sensor 3 experiences high acceleration at sensor data time SDZ of the corresponding localized sensor data set vSDS_0, ..., vSDS_5, whereas a higher quality factor QF is assigned to the corresponding localized sensor data set vSDS_0, ... vSDS_5 if the acceleration is lower. The same applies to velocity. Thus, the quality factor QF can be inversely proportional to acceleration and velocity.

[0136] Fig. Figure 2 shows a schematic flowchart of a method according to the invention or a part thereof. A buffer 9 for sensor data records SDS_0, ..., SDS_7 of a central evaluation unit 8 is shown. This buffer 9 stores eight sensor data records SDS_0, ..., SDS_7, each of which comprises a sensor data record counter SDSZ, a sensor data record time SDZ, and one or more sensor data point(s) SDP_0, ..., SDP_7. The reference numeral SDP_0, ..., SDP_7 can denote exactly one or a predetermined number of sensor data points SDP.

[0137] Further shown is a buffer 12 for position data records PDS_1, ..., PDS_5 of the central evaluation unit 8. Buffer 12 stores five position data records PDS_1, PDS_2, PDS_3, PDS_4, PDS_5, where each position data record PDS_1, ..., PDS_5 includes a position data record counter PDSZ, a position data time PDZ, a quality factor QF, and a position data point PDP. It is further shown that each position data record PDS_1, ..., PDS_5 includes a trigger loss indicator LT, where the trigger loss indicator can take a value of 1 or 0, with a value of 1 indicating a trigger loss.

[0138] This illustrates that the sensor data timestamps (SDZ) and the position data timestamps (PDZ) were acquired or determined in a common time system. This can be achieved by appropriately aligning the time systems of sensor 3 and the control and evaluation unit 10 of the coordinate measuring machine 2. Furthermore, any changing time difference between the time systems can be detected and compensated or corrected (drift correction).

[0139] The specified times can be given in seconds, for example. Furthermore, the position data points (PDP) can be specified in millimeters. This shows that only the position of one Z-axis of the coordinate measuring machine 2 is stored in the position data set buffer 12. Of course, a position data set PDS_1, ..., PDS_5 can also include position values ​​for the other movable axes of the coordinate measuring machine 2.

[0140] By means of a computing device 13, which may be configured as or include a microcontroller, located sensor data sets vSDS_0, ..., vSDS_7 can be determined. The number of located sensor data sets vSDS_0, ..., vSDS_7 is equal to the number of sensor data sets SDS_0, ..., SDS_7 stored in the sensor data set buffer 9. However, this is not mandatory.

[0141] This shows that the position data point PDP and the quality factor QF of the first position data record PDS_1 were assigned to the first sensor data record SDS_0, whereby the correspondingly generated located sensor data record vSDS_0 includes the sensor data record counter SDSZ, the sensor data time SDZ and the sensor data point(s) of this first sensor data record SDS_0 as well as a corresponding quality factor QF and the corresponding position data point PDP.

[0142] Accordingly, the second position data set PDS_2 is assigned to the third sensor data set SDS_2, the third position data set PDS_3 to the fifth sensor data set SDS_4, and the fourth position data set PDS_4 to the seventh sensor data set SDS_6.

[0143] For the second, fourth, sixth, and eighth sensor data sets SDS_1, SDS_3, SDS_5, and SDS_7, position data points (PDP) were estimated, specifically determined by interpolation. Linear interpolation is particularly suitable. Other types of interpolation are also conceivable, such as quadratic or logarithmic interpolation. The interpolation takes into account the position data points (PDP) of the immediately preceding and immediately following sensor data sets (vSDS_0, vSDS_2, vSDS_4, vSDS_6). For example,For the second sensor data set SDS_1, a position data point of 0.05 mm is determined, since the position data point PDP of the first located sensor data set vSDS_0 has a value of 0 mm and the position data point PDP of the third located sensor data set vSDS_2 has a value of 0.1 mm, and the sensor data time SDZ of the second sensor data set SDS_1 is in the middle between the position data times PDZ of the first and third located sensor data sets vSDS_0, vSDS_2.

[0144] The located sensor datasets vSDS_1, vSDS_3, vSDS_5, vSDS_7, whose position data point PDP was estimated, can be assigned a lower quality factor QF, for example, a quality factor QF of 0.8, than the located sensor datasets vSDS_0, vSDS_2, vSDS_4, vSDS_6, each of which has an actually recorded position data point PDP. These latter sensor datasets can be assigned a maximum quality factor, where a quality factor of 1 represents the maximum and a quality factor of 0 represents the minimum.

[0145] In Fig. Figure 3 shows another schematic flowchart of a method according to the invention or a part thereof. A buffer 9 for sensor data records SDS_8, ..., SDS_15, containing sensor data records SDS_8, ..., SDS_15, is again shown. A buffer 12 for position data records PDS_4, ..., PDS_8, containing position data records PDS_4, ..., PDS_8, is also shown. For example, buffer 12 can comprise a predetermined number of memory locations, whereby when a current position data record PDS_4, ..., PDS_8 is added, the oldest position data record is deleted. The same can apply to buffer 9.

[0146] According to the Fig. 2. The explanations given can be used to assign a fifth position data set PDS_5 to an eighth sensor data set SDS_8, a seventh position data set PDS_7 to a twelfth sensor data set SDS_12, and an eighth position data set PDS_8 to a fourteenth sensor data set SDS_14 for the generation of located sensor data sets vSDS_8, vSDS_12, vSDS_14.

[0147] Also shown is a missing position data record, namely the sixth position data record PDS_6. This can, for example, be found in the Fig. The position register memory PRS shown in Figure 1 may have been created, but before being transferred to buffer 11, it may have been overwritten by a new position data record PDS, namely the seventh position data record PDS_7. When storing position data records PDS_4, ..., PDS_8 in buffer 12, it can be detected, for example by the evaluation unit 13, that the sixth position data record PDS_6 is missing. This can be replaced by a substitute position data record, whereby a value for the position data record counter and a low quality factor QF, for example the minimum quality factor QF, in this case 0, can be assigned to the substitute position data record.

[0148] The computing unit 13 can, for example, further estimate a position data point PDP for this substitute position data record, in particular by interpolation. This can be done, for example, taking into account the position data records PDS_4, PDS_5, PDS_7, PDS_8 generated immediately before and after. In the Fig. In the exemplary embodiment shown in Figure 3, a position data point of, for example, 0.2 mm can be assigned to the substitute position data set by interpolation.

[0149] According to the explanations regarding the in Fig. In the embodiment shown in Figure 2, the corresponding position data points PDP can be estimated, in particular determined by interpolation, to generate geolocated sensor data sets vSDS_9, vSDS_11, vSDS_13. In addition to the actually determined position data points PDP of the fourth, fifth, seventh, and eighth position data sets PDS_4, PDS_5, PDS_7, and PDS_8, the estimated position data point PDP of the substitute position data set can also be taken into account. In contrast to the method described in Figure 2, the following applies: Fig. In the embodiment shown in 2, however, lower quality factors QF can be assigned to the located sensor data sets vSDS_9, vSDS_11, whose position data points PDP were estimated depending on the substitute position data set, than to the located sensor data sets vSDS_13, whose position data point was estimated depending on actually determined and therefore not estimated position data sets PDS.

[0150] Furthermore, it is conceivable that buffer 12 always contains at least one or two, or more than two, position data records (PDS) whose position data points (PDP) were actually recorded and not estimated. This advantageously simplifies interpolation. Reference symbol list 1 Device 2 Coordinate measuring machines 3 Sensor 4 Measuring table 5. Measuring object 6 Sensor evaluation unit 7 buffers for sensor data sets 8 central evaluation unit 9 buffers for sensor data sets 10 Control and evaluation unit of the coordinate measuring machine 11 buffers for position data records 12 buffers for position data records 13 Computing equipment 14 buffers for located sensor data sets TS trigger signal SDP sensor data point SDZ sensor data time SDSZ sensor data record counter SDS, SDS_0, ..., SDS_15 Sensor data sets x, y, z spatial directions PDZ position data time PDP Position Data Point PDSZ Position Data Record Counter PRS Position Register Memory PDS, PDS_0, ..., PDS_8 Position data records vSDS_0, ..., vSDS_14 located sensor data sets

Claims

[1] Method for generating georeferenced sensor data of a coordinate measuring machine (2), wherein a sensor (3) generates sensor data points (SDP), wherein a sensor data set (SDS, SDS_0, ..., SDS_14) is generated, wherein the sensor data set (SDS, SDS_0, ..., SDS_14) comprises at least one sensor data point (SDP) and at least one sensor data time point (SDZ), wherein the sensor (2) generates a trigger signal (TS) at a trigger frequency, wherein the trigger signal (TS) is transmitted to a device for determining a sensor position, wherein a position data set (PDS, PDS_0, ..., PDS_8) is determined at or after the receipt of the trigger signal (TS), wherein the position data set (PDS, PDS_0, ..., PDS_8) comprises at least one position data point (PDP) and one position data time point (PDZ), wherein, depending on the sensor data time point (SDZ) and the position data time point (PDZ), an assignment of position data points (PDP) to sensor data points (SDP) is determined, wherein a located sensor data record (vSDS_0,...,v_SDS_14) is generated, which comprises at least one sensor data point and the position data point assigned to this sensor data point, wherein for a sensor data record (SDS, SDS_0, ..., SDS_14) to which no position data record (PDS, PDS_0, ..., PDS_8) can be assigned, an estimated position data point is determined, wherein the located sensor data record (vSDS_0,..., vSDS_14) comprises at least the sensor data point(s) and the estimated position data point and / or wherein in a sequence of position data records (PDS, PDS_0, ..., PDS_8) a missing position record (PDS_6) is detected, whereby a replacement position record is created and inserted into the sequence in place of the missing position record (PDS_6). [2] Method according to claim 1, characterized by , that a sensor data set (SDS, SDS_0, ..., SDS_14) comprises a plurality of sensor data points (SDP), wherein each sensor data point (SDP) is assigned a data point-specific sensor data time point (SDZ) or a subset of the plurality of sensor data points (SDP) is assigned a subset-specific sensor data time point (SDZ). [3] Method according to claim 2, characterized by , that a time-referenced sensor data set is determined, wherein each sensor data point (SDP) is assigned a reference time point, and the values ​​of the sensor data points (SDP) of the time-referenced sensor data set are determined as a function of the reference times point. [4] Method according to claim 3, characterized by, that motion information of the sensor (3) is determined, wherein values ​​of the sensor data points (SDP) of the time-referenced sensor data set are determined as a function of the motion information and a difference between the data point-specific sensor data times (SDZ) and the reference time. [5] Method according to any of the preceding claims, characterized by , that at least one quality factor (QF) is further assigned to the located sensor data set (vSDS_0,..., vSDS_14), whereby the quality factor (QF) is determined depending on the quality of the assignment. [6] Method according to claim 5, characterized by , that the position data record (PDS, PDS_0, ..., PDS_8) includes the quality factor (QF). [7] Method according to any of the preceding claims, characterized by , that motion information from the sensor (3) is determined, wherein the quality factor (QF) is determined as a function of the motion information. [8] Method according to any of the preceding claims, characterized by , that a defined quality factor (QF) is assigned to the replacement position record, where the defined quality factor (QF) represents low quality. [9] Method according to any of the preceding claims, characterized by , that an estimated position data point (PDP) is determined for the replacement position data set. [10] Method according to any of the preceding claims, characterized by , that a sensor data set frequency is changed, while the trigger frequency remains constant. [11] Method according to any of the preceding claims, characterized by , that an equal proportion of the time difference and / or a change in the time difference between the sensor data time and the position data time is determined and compensated. [12] Method according to any of the preceding claims, characterized by, that a time offset between the time of generation of the sensor data and the time of generation of the trigger signal (TS) is determined and compensated. [13] Method according to any of the preceding claims, characterized by , that multiple sensor data sets (SDS, SDS_0, ..., SDS_14) are stored sequentially in a sensor data buffer (7, 9) and / or multiple position data sets (PDS, PDS_0,..., PDS_8) are stored in a position data buffer (11, 12). [14] Device for generating georeferenced sensor data from a coordinate measuring machine (2), wherein the device (1) comprises at least one sensor (3), at least one device for determining a sensor position, and at least one evaluation device (8), wherein sensor data points (SDP) can be generated by the sensor (3), wherein at least one sensor data set (SDS, SDS_0, ..., SDS_14) can be generated, wherein the sensor data set (SDS, SDS_0, ..., SDS_14) comprises at least one sensor data point (SDP) and at least one sensor data time point (SDZ), wherein trigger signals (TS) can be generated at a trigger frequency, wherein a trigger signal (TS) can be transmitted to the device for determining the sensor position, wherein a position data set (PDS, PDS_0, ..., PDS_8) can be determined at or after the receipt of the trigger signal (TS), wherein the position data set (PDS, PDS_0, ..., PDS_8) comprises at least one position data point (PDP) and one position data time point (PDZ), wherein the evaluation unit (8) can determine an assignment of position data points (PDP) to sensor data points (SDP) depending on the sensor data time point (SDZ) and the position data time point (PDZ), wherein a located sensor data record (vSDS_0, ..., vSDS_14) can be generated which comprises at least one sensor data point (SDP) and the position data point (PDP) assigned to this sensor data point (SDP), wherein for a sensor data record (SDS, SDS_0, ..., SDS_14) to which no position data record (PDS, PDS_0, ..., PDS_8) can be assigned, an estimated position data point is determined, wherein the located sensor data record (vSDS_0, ..., vSDS_14) comprises at least the sensor data point(s) and the includes an estimated position data point and / or is in a sequence of position data records (PDS, PDS_0, ..., PDS_8) a missing position record (PDS_6) is detected, whereby a replacement position record is created and inserted into the sequence in place of the missing position record (PDS_6).

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