Operation of coordinate measuring machine with person-guided sensor

Abstract

The invention relates to a method for an operator-guided, motor-assisted coordinate measuring machine (10), the coordinate measuring machine (10) having a sensor (1) for capturing coordinates of a measurement object (5), and a movement control (21) which can be actuated by a user in order to control a movement of the sensor (1) relative to the measurement object (5), and the movement control (21) being actuated by the user in order to control the movement of the sensor (1) relative to the measurement object (5). The method comprises the following steps: a) capturing a movement request of the user by means of a capturing device, b) retrieving additional information about at least one advantageous movement of the sensor (1) by means of a retrieving device, c) modifying the movement request of the user as a function of the additional information by means of a modifying device, thereby obtaining a modified movement request, and d) generating and outputting at least one signal that can be perceived by the user, said signal indicating that the user actuates the movement controller (21) such that the sensor (1) performs a favorable movement in accordance with the additional information, e) as an alternative or complementary to step d): controlling the movement of the sensor according to the modified movement request by a motor controller of the coordinate measuring machine (10).

Description

Technical Field

[0001] The present invention relates to a method for operating a coordinate measuring machine with a person-guided sensor and motor assistance, and further to such a coordinate measuring machine. The motor assistance can assist the user in moving the sensor. In addition, the coordinate measuring machine has a movement controller that can be actuated by the user (i.e. the person) in order to control the movement of the sensor relative to the measurement object. The movement of the sensor can be a movement relative to a base on which the sensor is fixed. However, the movement can also be a relative movement of the sensor relative to the measurement object, and the relative movement can also be at least partially carried out by the movement of the measurement object. Background Art

[0002] The term "coordinate measuring machine" includes any type of machine that can be used to determine the coordinates of a workpiece. In a specific class of coordinate measuring machines, the coordinates are surface coordinates, i.e. coordinates of points on the surface of the workpiece are determined. The term "coordinate measuring machine" includes in particular conventional coordinate measuring machines, such as machines with a portal design or a gantry design, as well as coordinate measuring machines with a movable bridge (in particular on which a quill with a sensor is mounted that can be moved relative to the bridge), horizontal arm machines, articulated arm machines and machines with a hexapod mechanism. The sensor is also not necessarily fastened to a mechanically rigid structure, even if this is preferred. On the contrary, in particular cameras that have been used for purposes other than measuring coordinates so far are also used on mechanisms such as cable structures. For example, so-called spidercams are known from camera-based transmissions of sports events. For example, a camera-based positioning system can be used to determine the position and orientation of a camera and thus implement the functionality of a coordinate measuring machine. For example, at least two observation cameras capture the position and orientation of a main camera from different viewing directions, which captures the measurement object. The term "coordinate measuring machine" also covers machines which, in particular, are not primarily designed as coordinate measuring machines, but are configured to work like them. In particular, these machines have at least one measuring sensor for determining coordinates. For example, machines are known whose mechanism is designed, for example, in the form of an articulated-arm robot and which, instead of or in addition to the tool, have a sensor for capturing the surface of a workpiece (e.g. a strip projection sensor) or a machine tool to which a measuring sensor is fastened instead of a machining tool or in addition to the machining tool. Hexapods are also known, for example, to which sensors for capturing the surface of a workpiece (e.g. a tactile sensor) are fastened instead of a machining tool. In particular, however, mechanisms of the type described above can be implemented not only in machine tools and robots, but also in coordinate measuring machines which are used exclusively or primarily for determining the coordinates of a measurement object. If this description refers to a measurement object, this particularly includes the case of a workpiece or a workpiece arrangement.

[0003] Coordinate measuring machines with human-guided sensors (i.e., the movement of the sensors is controlled by the user) and motor assistance form a subclass of coordinate measuring machines. They allow the user to bring the corresponding sensor into a position and / or orientation in which the sensor can capture the measurement object to determine the coordinates of the measurement object and / or can contribute to the determination of the coordinates of the measurement object by direct mechanical contact with at least one body part of the user (optionally via a transfer object such as a glove) and / or with the mechanism of the coordinate measuring machine and / or with at least one separate control device (such as a joystick). An advantage of machines of this subclass is that it is very easy to start the machine. A motor is understood to mean any powered machine that performs mechanical work or at least generates mechanical force by generating work or force using energy forms other than mechanical energy. In particular, in a motor, electrical energy is converted into mechanical work / force.

[0004] Mechanical contact of at least one body part of the user (in many cases one or both hands) with the coordinate measuring machine can be made directly (or via contact means such as gloves) with the sensor to be positioned and / or a machine part that is firmly or movably connected to the sensor. Examples of machine parts are handles and / or projections. In the case of a machine part, this machine part preferably moves with the sensor, but preferably is not movable relative to the sensor, and the movement of the sensor can be explicitly controlled, in particular by a person-guided movement of the machine part. In this case, the user contributes to the movement at least by generating mechanical forces while performing mechanical work. If the sensor is a tactile sensor, a capture device can be present in a special configuration, which can capture influences, in particular mechanical influences, on the sensor and in this way at least contribute to determining the coordinates of the surface of the measurement object touched by the tactile sensor. For example, a capture device is known, which, as part of the capture device, captures the elastic deflection of the tactile sensor from its rest position, preferably also the direction of the deflection. If the elastic properties, in particular the spring constant, are known, the force acting on the tactile sensor can also be determined from the deflection. So-called active tactile sensors are also known, which can generate a force, in particular can adjust this force to a set value of the surface that the tactile sensor touches. Such active tactile sensors also have a capture device, which can capture the force acting on the tactile sensor. In the above case, the capture device can capture the force applied by the user on the tactile sensor and generate a corresponding signal and transmit the signal to a central controller of the coordinate measuring machine and / or a motor controller of the coordinate measuring machine.

[0005] However, capturing the influence of the user is not limited to the capture being implemented as part of the measuring device of the sensor. Rather, the capture device can be, for example, part of at least one drive for moving the sensor, or multiple parts of the drive can be used. In particular, the motor function of the coordinate measuring machine can have a capture device for capturing the movement of one or more motors in a manner known per se, such as a tachometer generator, and in this way also the movement created by the influence of the user can be captured. A kinematic model of the mechanism of the coordinate measuring machine can be used. If the movements of the different motors are captured by at least one capture device, the movement of the sensor can be inferred from the kinematic model. The movement generated by the influence of the user can be very small and, for example, in the normal operating mode of the coordinate measuring machine that is not guided by a person, will lead to the control process implemented in the motor controller to reverse the movement or to compensate for the movement when performing a predefined movement. However, in the case of a person-guided coordinate measuring machine, the user's movement request can be determined from the captured movement caused by the user, and the movement currently being performed can be modified accordingly and / or the movement can be re-executed.

[0006] Thus, more generally, a force applied by a user on the tactile sensor (in particular continuously over time) and / or a movement of the tactile sensor caused by the user during a time interval can in particular be captured by a capture device and a corresponding operation of the motor function can be performed based on the capture result. In particular, the capture and the corresponding operation of the motor function can be performed continuously. For example, an explicit movement request can be defined by a force applied by a user and / or a movement caused by a user, and this movement request can be converted by the motor function (optionally with the participation of a central controller) into a movement of the sensor. The coordinate measuring machine can be configured accordingly. The same applies if, in a different configuration of the method and the coordinate measuring machine, the user does not act directly on the sensor, as in the case of a separate control device described above.

[0007] However, designs are also possible whose motor function completely performs the mechanical work performed during the movement of the sensor or completely performs mechanical work at least for some of the movements. This in turn does not exclude, and in many cases is preferred, that a person exerts a mechanical force on the sensor and / or the machine part in order to control the movement. If there is at least one separate control device, the user does not perform any mechanical work on the mechanism of the coordinate measuring machine during control. However, mechanical work can be performed on the control device.

[0008] In other words, the at least one motor of the coordinate measuring machine and the motor function controller to which the motor controller belongs can, for example, obtain the information required for performing the control from the mechanical forces applied by the user and / or the mechanical work performed by the user on the coordinate measuring machine. The motor can also be referred to as a drive. The motor controller can also be referred to as a drive controller.

[0009] Thus, depending on the type of assistance, the motor assistance may specifically involve reducing the amount of mechanical work or mechanical power to be consumed by the user, even to an amount of zero. However, in the case of some types of coordinate measuring machines, the degree of reduction may vary over time. If at least one separate control device is used, the mechanical force, mechanical power and / or mechanical work applied to the control device may vary over time. For example, the user may need a mechanical force greater than the force to maintain the movement of the sensor that has already begun and defined by the movement speed vector to generate the movement of the sensor from rest and / or change the movement speed of the sensor. For example, the motor function can completely generate the mechanical work required to maintain the movement that has already begun, and the user preferably has the possibility of slowing down or stopping the movement (especially with the assistance of the motor), for example by applying a force with a direction opposite to the direction of movement. Alternatively or additionally, the user can preferably change the direction of movement and optionally also change the absolute value of the movement speed by applying a force with a direction extending transversely to the direction of movement. Further, alternatively or additionally, the user can preferably accelerate the movement. In the case of at least one separate control device, the direction of the user's interaction with the control device may correspond to the direction of movement of the sensor, and therefore, the same may apply as described in the three preceding sentences. Summary of the invention

[0010] In particular, the invention relates to such a motor-assisted coordinate measuring machine (described previously) which is guided by a person via mechanical contact. As an alternative to this, when the user controls the movement, there is no mechanical contact with the sensor or any other part of the mechanism of the coordinate measuring machine (such as the above-mentioned machine parts), and there is no mechanical contact with a separate control device, but the user controls the movement using gestures such as hand gestures or eye gestures. Such gesture control processes are known in the art of controlling machine movements and are not described in more detail here.

[0011] Even though the inventors were not aware of such a personnel-guided coordinate measuring machine being proposed as a starting point for the present invention, a personnel-guided coordinate measuring machine can also use the motor function to control the movement of the sensor in certain operating situations without taking into account the user's instructions regarding this movement being performed. Such a movement is hereinafter referred to by the term "fully automatically controlled movement".

[0012] The invention therefore also applies to a personnel-controlled coordinate measuring machine which occasionally and / or temporarily carries out fully automatically controlled movements, in particular in at least one predefined operating situation.

[0013] The invention relates in particular to all types and variants of the above-mentioned coordinate measuring machines with at least one person-guided sensor and motor assistance.

[0014] The sensor can be any sensor suitable for a coordinate measuring machine, such as a tactile sensor or an optical sensor. In the case of a tactile sensor, the capture of the deflection of the sensor and active sensors (also available on the market, in particular under the name of active measuring heads) has already been mentioned above. Alternatively, the sensor can be an optical sensor as described. This means in particular that there must be no mechanical contact between the sensor and the measured object, but mechanical contact of, for example, the edge of the optical system of the sensor with the measured object is not completely excluded. Optical sensors capture the measured object by electromagnetic radiation. Optionally, the measuring radiation is irradiated onto the measured object. For example, in the case of a camera sensor, however, in many cases the measuring radiation is nothing more than radiation from the surrounding area incident on the measured object. In another type of camera sensor, locally structured measuring radiation is irradiated onto the measured object, such as a grating structure or another predefined structure. In the case of knowing the structure, depth information can then be obtained. Typically, a camera sensor captures a two-dimensional image of the measured object within a capture range, wherein both dimensions extend perpendicularly to the viewing direction of the camera. However, the invention also relates to a one-dimensional camera sensor, such as a line scan camera. In particular, the camera can therefore have at least one sensor element matrix which is two-dimensional in the case of a two-dimensional image and has sensor elements arranged, for example, in rows and columns, and in the case of a line scan camera has a row of sensor elements. In both the case of a one-dimensional camera image and a two-dimensional camera image, depth information can additionally be determined, in which case different measurement principles are possible, such as the aforementioned use of locally structured measuring radiation and / or by applying the TOF (Time of Flight) principle, i.e. the time of flight measurement principle.

[0015] If the sensor is an imaging sensor, the sensor has a non-point-shaped capture range for capturing at least a portion of the measurement object. For example, a camera sensor is imaging in contrast to a laser triangulation sensor. However, as is usually the case with cameras with a sensor matrix, the sensor may not capture the individual pixels of the image exactly at the same time, but rather pixel by pixel, for example on each individual image line. Other known methods for recording images pixel by pixel may also be implemented.

[0016] However, the invention is not only applicable to imaging optical sensors, but also to sensors with a point-shaped capture range. Examples of such sensors are confocal colorimetric sensors (e.g. white light sensors) and laser triangulation sensors. Although these are optical sensors with a point-shaped capture range, by performing a relative movement between sensor and measurement object, surface areas of the measurement object that are larger than the point-shaped surface area can be captured. Point-shaped is to be understood as meaning that the usually very small, almost point-shaped capture range is not captured and is not further evaluated in a locally resolved manner. For imaging sensors, on the other hand, the capture range is locally segmented during capture and evaluation.

[0017] A coordinate measuring machine with a personnel-guided sensor allows the user to easily bring the sensor into the desired position. However, it is difficult for the user to set both the appropriate distance between the sensor and the measured object and the appropriate orientation of the sensor. This is particularly problematic when the sensor is intended to be brought into different desired relative positions relative to the measured object, especially when the orientation of the sensor relative to the measured object also changes. The combination of the relative position and orientation of the sensor is referred to as a posture hereinafter. A special case of various postures is sensing the surface of the measured object by scanning. For example, if the surface of the measured object is intended to be sensed on a desired profile with a tactile sensor, this is almost impossible in a personnel-guided manner. However, sensing the surface of the measured object by scanning occurs not only with a tactile sensor, but also when other sensors, especially optical sensors, are used.

[0018] The object of the present invention is to specify a method for operating a sensor on a personnel-guided, motor-assisted coordinate measuring machine and a corresponding coordinate measuring machine, which method and coordinate measuring machine make it easier for a user to capture the measured object in the desired manner if the sensor is intended to adopt at least two different postures relative to the measured object.

[0019] The invention relates to at least one sensor, in particular a tactile sensor or an optical sensor, which is operated on a personnel-guided coordinate measuring machine.

[0020] The present invention relates in particular to types and variants of the above-mentioned coordinate measuring machines with at least one personnel-guided sensor and motor assistance. In at least one configuration of the present invention, a feature is also added, namely that the personnel (i.e. the user) can receive tactile perceptible feedback from the motor assistance about the direction in which the sensor should move and / or should not move. The term "direction" refers not only to at least one linear degree of freedom of movement, but also alternatively or additionally to at least one rotational degree of freedom of movement. Therefore, the direction can be at least one linear direction and / or at least one rotational direction. Therefore, the perceptible feedback information can also relate to the orientation of the sensor relative to the measured object. The present invention additionally includes such a configuration, in which at least one movement component of the sensor is not implemented at a given time by the motor function of the coordinate measuring machine during the execution of the movement, regardless of the user's movement request. This will be discussed in more detail below. This does not exclude that the user also receives the above-mentioned feedback information.

[0021] In particular, the present invention is also not based on the movement of the sensor relative to the measured object, but optionally also on at least one optical degree of freedom. This should be understood to mean that the characteristics of the optical system of the sensor designed as an optical sensor can be set. In particular, this setting of the characteristics of the optical system makes it possible to change the suitability and / or quality of the sensor to capture the measured object. In particular, the optical degrees of freedom can be set completely or partially automatically. Examples will be discussed below. Alternatively or additionally, the state can be set relative to the optical degrees of freedom in a user-guided manner. In this case, the user can generate and output at least one signal in a perceptible manner. Further, alternatively or additionally, when a favorable movement state has been achieved, the change of this state relative to the optical degrees of freedom can be suppressed or prevented by the machine, for example by suppressing or preventing the relative movement and / or deformation of the optical lens element.

[0022] The automatic focusing function of the optical sensor can be implemented in different ways. According to a simple embodiment, the distance between the sensor and the measurement object to be captured can be automatically set. For example, it has long been known that an optical system with a zoom function based on the adjustment of the distance between the individual lens elements of the system can also be combined with a device for detecting a sharp image. For example, by adjusting the distance between the lens elements, the focus can be changed in a way that the viewed image area is clearly imaged, in particular, the focus can be changed until the viewed image area is clearly imaged. Alternatively, other systems with automatic focusing functions can be used, in which the focus adjustment is performed, for example, by a micromirror array lens system (MALS) (as used, for example, in the digital microscope Visioner 1 from the Carl Zeiss Group of Companies in Upper Cohen, Germany) or based on liquid lens technology (where the shape of at least one lens element is usually adjusted by changing the electric field in order to change the focal length) or based on focus tunable lens technology (where the shape of the lens element and therefore the focal length is adjusted by fluid flow and corresponding deformation of at least one lens element). In an exemplary embodiment of the present invention, instead of the automatic adjustment of the focus point, the user can change the focus by actuating a mobile controller.

[0023] In general, the method for operating a sensor or a coordinate measuring machine can have in a first embodiment at least two mechanical degrees of freedom of movement, the states of which can be set independently of each other or in a coupled manner. In a second embodiment, which can be independent of the first embodiment or as another configuration of the first embodiment, there is at least one optical degree of freedom, the state of which can be set.

[0024] For example, in one configuration of the method, the movement state of the sensor can thus depend on

[0025] - the state of at least one mechanical degree of freedom of movement of the sensor and the setting of the characteristics of the optical system of the sensor, and / or

[0026] - The state of at least two mechanical degrees of freedom of movement of the sensor.

[0027] A method for operating a human-guided, motor-assisted coordinate measuring machine is proposed, wherein the coordinate measuring machine has a sensor for capturing coordinates of a measurement object. A movement controller can be actuated by a user in order to control the movement of the sensor relative to the measurement object. Furthermore, an arrangement having such a coordinate measuring machine is proposed.

[0028] The arrangement further comprises a capture device, which is configured to capture a user's movement request in order to move the sensor relative to the measured object. However, in a specific configuration of the arrangement, this capture device and optionally at least one further device in the arrangement can also be part of a coordinate measuring machine. If all devices in the arrangement are part of a coordinate measuring machine, the arrangement consists of a coordinate measuring machine. Optionally, the capture device can be part of a mobile controller. However, one aspect of the invention is that in some operating situations of the coordinate measuring machine, the user's movement request is in any case modified into a movement of the sensor. Another aspect of the invention is that in some operating situations, the user receives in any case a signal indicating how he can express his movement request in such a way that the conversion of the movement request causes a favorable movement of the sensor. As will be described in more detail, these two aspects can also optionally be combined with each other.

[0029] If the capture of a movement request and further measures based on the movement request are described in this description, this is done in particular continuously, i.e. repeatedly. The user then repeatedly or continuously expresses his movement request over time, usually modifies his actions over time to express his movement request, e.g. repeatedly modifies his actions. Further measures are then also taken repeatedly or continuously, such as, in particular, implementing the movement request unchanged, modifying the movement request and / or outputting a signal about the movement request to the user.

[0030] When modifying a movement request, there are different options regarding the movement controller and the capture device. The user will see the movement controller as a means for directly controlling the movement of the sensor, wherein the movement of the sensor in this description refers to the relative movement of the sensor and the measurement object, unless explicitly stated otherwise. As mentioned, there may also be operating situations where the user's movement request is converted into a movement of the sensor without change. However, in other operating situations or depending on the configuration in all operating situations, the user's movement request to move the sensor is captured by the capture device.

[0031] One embodiment possibility is that a movement controller actuated by a user generates control signals for controlling the movement of the sensor in all operating situations, which control signals correspond to the movement request. If the movement request changes, the capture device uses these control signals to capture the movement request. For example, a plurality of control signals can respectively correspond to a degree of freedom of the movement (in particular independent of the other degrees of freedom), and when the movement request is modified, at least one of these control signals can be modified. The movement components with these degrees of freedom can each be generated in particular by a motor assigned to the degree of freedom. However, the control signal or the modified control signal present at the output of the movement controller can also be subsequently converted into a motor control signal, wherein, for example, a coordinate transformation to another coordinate system can be performed.

[0032] However, the capture device may also be integrated in the movement controller and the modification of the movement request may therefore also result in a control signal at the output of the movement controller which has been modified by the user compared to the case of direct control of the movement of the sensor.

[0033] The invention is based on the recognition that a fully automatic control of the movement of the sensor is not required in order to set different desired and / or advantageous poses of the sensor in a personnel-guided, motor-assisted coordinate measuring machine. Instead, the respective movement request of the user can be taken into account, so that the basic advantages of a personnel-guided coordinate measuring machine are retained: Preparing a measuring operation requires only little effort and can be managed, for example, without defining a path curve to be traveled along. The user expresses his movement request and, taking into account the movement request, the sensor is moved with the assistance of the motor. However, boundary conditions for the movement and / or at least one target for the movement (e.g. the pose of the sensor) can be defined or present before and / or during the movement.

[0034] According to a first configuration, at least one boundary condition is used to modify the movement request if necessary, i.e. in particular if the unmodified movement request would result in a movement that is unfavorable with respect to at least one boundary condition and / or if a more favorable movement with respect to at least one boundary condition is available. For example, a more favorable movement can then be performed. In particular, a movement that is unfavorable with respect to a boundary condition is a movement in which the boundary condition is not observed or can no longer be observed in the further course of the movement.

[0035] Therefore, it is suggested to modify the move request according to the additional information not included in the user's move request when necessary.

[0036] According to a second configuration, the boundary condition is used to output a signal to the user, which prompts the user to modify his movement request and / or to express his movement request in a manner that observes at least one boundary condition during further operation. In particular, the signal allows the user to express his movement request in such a manner that, when the movement request is implemented, a movement of the sensor is generated that is advantageous according to the additional information.

[0037] The first configuration and the second configuration can also be combined with each other. This means that both the signal is output to the user and the user's movement request is modified. Thus, if the user, for example, does not fully express his movement request according to the signal, but according to the specific configuration, a movement of the sensor is performed that is advantageous according to the boundary conditions and the additional information. This means, for example, that deviations between the movement request and the movement request to be expressed according to the signal are automatically compensated in full or in part.

[0038] The additional information corresponds to at least one boundary condition in each configuration. Examples of boundary conditions and additional information will be discussed.

[0039] In particular, the following is proposed: A method for an operator-guided, motor-assisted coordinate measuring machine having a sensor for capturing coordinates of a measurement object and a movement controller that can be actuated by a user in order to control the movement of the sensor relative to the measurement object. The method has the following steps:

[0040] capturing a movement request from the user by means of a capture device, in particular by means of a signal from the movement controller due to an actuation of the movement controller by the user,

[0041] retrieving, by means of a retrieval device, additional information about at least one advantageous movement of the sensor,

[0042] modifying the user's movement request according to the additional information by modifying the device, thereby obtaining a modified movement request, and

[0043] The movement of the sensor is controlled by the motor controller of the coordinate measuring machine according to the modified movement request.

[0044] The first two steps mentioned can be performed in any order and at least partially also simultaneously. In particular, as already mentioned, it is also possible to generate and / or retrieve the additional information only when the user has expressed his request to move or is in the process of expressing his request to move. It has also been mentioned that these steps can be performed continuously and therefore repeatedly. In this case, the additional information can preferably be continuously updated. However, there are also cases where the additional information remains unchanged during an operating cycle comprising a large number of repeated executions of the steps. The steps of the method are performed automatically.

[0045] Further, the following is proposed: An arrangement with a personnel-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for capturing coordinates of a measurement object, and the arrangement has a movement controller that can be actuated by a user in order to control movement of the sensor relative to the measurement object, and wherein the arrangement has:

[0046] a capture device configured to capture the user's movement request,

[0047] a retrieval device configured to retrieve additional information about at least one advantageous movement of the sensor,

[0048] a modification device configured to modify the user's movement request according to the additional information, thereby obtaining a modified movement request, and

[0049] A motor controller configured to control movement of the sensor according to the modified movement request.

[0050] The above-described apparatus may be particularly configured to carry out, in one of the described configurations, the method for an operator-guided, motor-assisted coordinate measuring machine (CMM for short).

[0051] The concept of a motor controller is not limited to direct control of the drives of the CMM. Optionally, it may also include a central controller of the CMM and / or a controller external to the machine, if the respective controller performs the processing of the signals for controlling the drives (and thus at least one motor).

[0052] As already mentioned, the advantage of modifying the movement request is that the functionality of the personnel-guided coordinate measuring machine is maintained, but at the same time boundary conditions can be taken into account which are difficult for the user to take into account without any assistance.

[0053] The following is also proposed: A method for an operator-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for capturing coordinates of a measurement object, and a movement controller that can be actuated by a user in order to control movement of the sensor relative to the measurement object, and wherein the method comprises the following steps:

[0054] · Capture the user's mobile request through a capture device,

[0055] retrieving, by means of a retrieval device, additional information about at least one advantageous movement of the sensor,

[0056] • Generating and outputting at least one signal perceptible to a user, wherein the signal prompts the user to actuate the movement controller to cause the sensor to perform an advantageous movement according to the additional information.

[0057] The step of measuring the measurement object preferably also belongs to the method according to both configurations.

[0058] Furthermore, the following is proposed: An arrangement with a personnel-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for capturing coordinates of a measurement object, and the arrangement has a movement controller which can be actuated by a user in order to control movement of the sensor relative to the measurement object, and wherein the arrangement has:

[0059] a capture device configured to capture the user's movement request,

[0060] a retrieval device configured to retrieve additional information about at least one advantageous movement of the sensor, and

[0061] A signaling device configured to generate and output at least one signal perceptible to a user, wherein the signal indicates to the user to actuate the movement controller in such a way that the sensor performs an advantageous movement according to the additional information.

[0062] The movement request may in particular be defined by at least one signal, for example at least one signal corresponding to a change in movement of the sensor, for example an acceleration. However, alternatively or additionally, it may also be a signal corresponding to a movement direction. Examples will be discussed in more detail.

[0063] The two steps of capturing a movement request and retrieving additional information can be performed in any order and at least partially also simultaneously in a similar manner to the configuration with the step of modifying the movement request. As described above, the same also applies to the generation and / or retrieval of additional information and to the continuous, repeated execution of the steps. The step of the method with the step of outputting a signal that can be perceived by a user is also performed automatically.

[0064] Retrieving additional information is understood to mean accessing the additional information. For this purpose, the additional information must be available. It is not excluded that the additional information is accessed by an associated retrieval device, in particular a computer, and that the additional information is transmitted to a processing device of the coordinate measuring machine or an arrangement with the coordinate measuring machine in order to generate therefrom a signal perceptible by a user and / or to modify the movement request as a function of the additional information. Thus, while the additional information can be retrieved directly by the processing device, a separate retrieval device can also be present.

[0065] The mobile controller has different devices and / or objects depending on the configuration. The device or object allows the user to perform an actuation. In the case where the user exerts a force and / or torque on the sensor itself or in particular an object to which the sensor is firmly connected, the sensor itself or the object connected thereto is the actuation device. For example, in the case of gesture control, i.e. when the user performs a gesture, for example with his hand, in order to control the movement of the sensor, the actuation device is a recognition and evaluation device that is configured to recognize the gesture and to evaluate it so that an action corresponding to the gesture, in particular a corresponding movement, is controlled.

[0066] The coordinate measuring machine can assist the user in controlling the movement of the sensor in different ways by generating and outputting signals. In some cases, this may also depend on the configuration of the coordinate measuring machine, in particular on the configuration of the human-guided control of the movement of the sensor.

[0067] On the one hand, the motor function of the coordinate measuring machine can provide assistance, for example by applying a force and / or applying a resistance to an inappropriate movement of the sensor. In particular, therefore, for example, the motor function can suppress or prevent a movement or a movement component of the sensor (for example, a movement component relative to a certain degree of freedom of the movement). Alternatively, the suppression or prevention can be achieved in other ways, for example by a machine controller of the coordinate measuring machine, which in turn can control a corresponding motor controller. For example, the machine controller can use measurement values ​​from a position measurement system of the coordinate measuring machine and / or data related to the shape of the measured object. Even if the phrase "suppress or prevent movement" has been used, this particularly includes the situation where all movements that cause the sensor to perform a movement other than the advantageous movement are suppressed or prevented.

[0068] The applied force and / or resistance may be transmitted to the user via a signal that can be perceived by the user. Such signals will be discussed in more detail. However, here, it should be noted that these signals may also be generated when they are not the result of the action of the motor function.

[0069] Similarly, these statements also apply to another possible way in which the coordinate measuring machine can provide assistance. This further possibility can be implemented as an alternative to the possibility of assistance by motor function, and can also be implemented as a supplement to this possibility of assistance by motor function. This further possibility includes generating and outputting signals (in addition to the signals caused by the motor function) to the user, who can then actuate the movement controller that can be actuated by it, so that the sensor moves according to the assistance. For example, these signals can be optical signals and / or acoustic signals.

[0070] In general, therefore, the above-mentioned signals may be of different types, which are generated and outputted so that they can be perceived by the user. For example, a force generator may be provided, which is configured to exert a force on an actuating device (such as a joystick) of a mobile controller or (in the case of a corresponding different configuration) on a sensor or an object connected thereto. In particular, if the sensor or the object connected thereto is an actuating device, the motor function of the coordinate measuring machine may therefore have the function of a force generator.

[0071] For example, the force may generate a resistance to a force applied by the user on the actuator or the sensor, i.e. the two forces may be opposite to each other. For example, the resistance may be generated only when the force applied by the user on the actuator is considered inappropriate by the machine controller of the coordinate measuring machine with respect to the current operating situation. For example, if the movement request corresponding to the force does not produce a movement of the sensor that is favorable according to the additional information, the force is inappropriate. The force generator may also be or have a brake, for example, which slows down the movement of the actuator caused by the user. In many cases, based on the current movement state of the sensor, there is at least one suitable movement direction of the actuator that produces a favorable movement of the sensor. In these cases, there are usually multiple inappropriate movement directions of the actuator that produce an unfavorable movement of the sensor at the same time. Therefore, the force generator is preferably controlled by the machine controller of the coordinate measuring machine so that the force generator generates a resistance only when the actuator moves in one of the inappropriate movement directions. In particular, as preferred, if the actuator must always be actuated against the resistance, the resistance is an increasing resistance. In a variant using the force generator described above or when a resistance is applied, the resistance as a signal to the user is so great that the user feels that a movement opposite to the direction of the resistance is prevented. Optionally, in this case, the user can overcome this high resistance by applying an even higher user force and thereby specifying the termination of the resistance or the generation of an increased resistance. This means that the user indicates, for example, that the previously valid additional information should no longer be taken into account. For example, an operating phase can then take place in which no modification of the movement request is made based on the additional information and no signal can be perceived by the user based on the additional information. Alternatively, an operating phase can be started in which information other than the previously valid additional information is used.

[0072] As an alternative or in addition to the resistance or reaction force exerted on the actuator, the actuator can also be acted on in another way so that the corresponding signal can be perceived by the user, or the signal can be directly perceived by the user. One possibility is that when the user actuates the actuator in an inappropriate manner in the above sense, the actuator is caused to generate mechanical vibrations of the actuator by at least one vibrator. As an alternative or in addition to the mechanical vibration, a voltage that can be perceived by the user can be applied to the actuator.

[0073] However, the at least one vibrator and / or the voltage generator for generating the voltage may also be applied to an object other than the object used by the user (e.g. a garment such as a glove etc.) and / or directly to a body part of the user. In particular, the voltage may have at least one voltage pulse, i.e. it may have only a short-term effect per pulse.

[0074] Another possibility is to output a visually and / or acoustically perceptible signal to the user. In the case of a visual signal, the signal can be perceptibly displayed to the user, for example, via a display (e.g. as a bar display) and / or using color. For example, the longer the displayed bar becomes, the less suitable or (in another case) more suitable the user actuation of the sensor and the expected movement is. Acoustically perceptible signals can in particular use different audible frequencies to indicate to the user whether the actuation action is suitable or not, or gradually indicate the degree to which the actuation action is suitable or not. Acoustically perceptible signals can also be indicated in the manner of surround sound systems known from virtual reality. For example, a sound image that clearly comes from the user's forward direction and / or viewing direction can indicate a suitable actuation, while other obvious source directions of the sound image indicate deviations from suitable actuation. The user can then modify the actuation of the mobile controller so that the sound image clearly comes from the forward direction again.

[0075] In addition, in particular in all those cases where the signal is not output to the user via an actuation device, the actuation of the mobile controller by the user can be managed without a specific actuation device. The above-mentioned gesture used by the user to perform an actuation is an example.

[0076] Assisting the user by any signal also has the advantage that the user can control the movement of the sensor in a way that is opposite to or modifies the assistance indicated by the signal. Thus, the program recommended by the signal can be intentionally deviated from in order to achieve an advantageous movement. More generally, the user can ignore all or part of the signal and, for example, cancel the program for controlling an advantageous movement of the sensor.

[0077] An embodiment of modifying the configuration of a user's move request based on additional information is now described below.

[0078] The steps of modifying the move request or operating the modification device may include

[0079] - modifying the desired direction of movement of the sensor according to the movement request to a modified direction of movement of the sensor according to the additional information, and / or

[0080] - modifying the desired rotational movement of the sensor according to the movement request to a modified rotational movement of the sensor according to the additional information. For example, the orientation of the rotation axis may be modified.

[0081] According to another embodiment, a coordinate measuring machine may allow the sensor to move with the assistance of a motor and with at least two degrees of freedom of the movement, wherein the method or the modification device is configured to modify the movement request with respect to at least a first degree of freedom of the movement and to maintain the movement request with respect to at least a second degree of freedom of the movement. Optionally, these degrees of freedom of the movement, which are particularly independent of each other, may be based on a coordinate system that is a transformed coordinate system relative to the coordinate system of the coordinate measuring machine. After the movement request has been modified, a reverse transformation to the coordinate system of the coordinate measuring machine may be performed. In particular, the transformed coordinate system may be defined taking into account additional information. For example, the additional information specifies that the movement of the sensor should be performed within an inclined plane. The transformed coordinate system may then be a Cartesian coordinate system in which two of the three coordinate axes span the inclined surface. After the transformation into this coordinate system, the movement request may be easily modified so that the component of the movement vector extending perpendicular to the inclined plane is set to zero. The modified movement vector is obtained by a reverse transformation to the coordinate system of the coordinate measuring machine.

[0082] According to one configuration of the method, the method further comprises generating additional information by at least one of the following steps, and / or, according to one configuration of the arrangement, the arrangement has a generating device configured to generate the additional information and take at least one of the following measures:

[0083] -Specify the expected deflection or expected deflection range of the sensor designed as a tactile sensing device; in one case, the magnitude of the deflection can be specified, and in another case, the magnitude and direction of the deflection can be specified. It is also possible to specify only the direction of the deflection. In particular, in the case of measurements by means of a tactile sensor, it may be useful to keep the magnitude of the sensor deflection at a constant value during the detection of a calibration standard (such as a calibration ball). If the sensor is detecting, the user should still be able to move the sensing device around the workpiece or the calibration ball by actuating the movement controller. In this case, the additional information may contain that the deflection of the sensing device is always perpendicular to the surface of the calibration ball. This includes information about the position at which the surface of the calibration ball is arranged in the coordinate system of the CMM. Optionally, this additional information is reinforced by the following information: the magnitude of the deflection must not exceed a limit value and / or the magnitude of the deflection is constant. According to the additional information, it may be allowed that the magnitude of the deflection of the sensing device can be reduced below the constant value due to a movement request by the user, and this indicates that the additional information should then be disregarded, i.e. the user's assistance based on the additional information should be terminated. An advantageous movement of the sensing device along the surface of the calibration sphere can be easily obtained: the coordinate system of the coordinate measuring machine is transformed into a Cartesian coordinate system in which, at the current point of contact between the sensing device and the surface of the calibration sphere, a tangential plane is spanned by two of the three coordinate axes. The component of the movement perpendicular to this tangential plane, if any, is set to zero.

[0084] - specifies the desired state of the sensor designed as a tactile sensing device; this is a generalization of the previous case of the definition of the additional information. In addition to the deflection of the tactile sensing device, the detection force also appears as a state variable, especially in the case of active sensors with force generators. Thus, for example, the magnitude of the detection force can be changed depending on the additional information. However, in many cases it is advantageous if the magnitude of the detection force remains constant.

[0085] - Specifying a desired orientation or a desired orientation range of the sensor; this may apply not only to tactile sensing devices but also to any type of sensor. In particular in the case of optical sensors, the orientation is an important state variable when capturing the respective measurement object.

[0086] - specifying that the sensor signal generated by the sensor has a predefined characteristic; this is a generalization of the above-mentioned first specification of specifying an expected deflection. Thus, one exemplary embodiment relates to a tactile sensor, in particular to a passive measuring head without a force generator. Another exemplary embodiment relates to a confocal sensor, which uses the spectrum of the measuring radiation to identify the wavelengths at which the radiated measuring radiation is sharply imaged onto the surface of the measuring object, i.e. in focus. Thus, the additional information may contain that the measuring signal has its maximum intensity within a predefined wavelength range. This allows the sensor to always be spaced apart from the surface of the measuring object according to its measuring range. The predefined wavelength range may be smaller than the wavelength range of the measuring radiation.

[0087] -Specify that the sensor designed as an optical sensor captures a predefined feature of the measured object; for example, the feature can be any edge of the measured object. The additional information can also specify that the edge is clearly imaged in the camera image from the optical sensor designed as a camera. In particular, this can cause that, in the case of a movement of the optical sensor along the surface of the measured object, the distance to the predefined feature of the measured object remains unchanged, with the result that, for example, the measured object is still clearly imaged. On the other hand, the orientation of the optical sensor relative to the surface can be changed. In particular, this makes it possible to capture the measured object in different postures of the optical sensor relative to the measured object. For example, the sensor can record a two-dimensional camera image. Specific features can be detected by evaluating the image data. Starting from the current posture, when taking into account the additional information, only a movement in the case where the feature is still highly recognizable in the corresponding camera image can be an advantageous movement of the sensor. In particular, this controls the orientation of the optical sensor. The surface area of ​​the measured object captured does not have to be constant. Instead, each pair of partially overlapping surface areas can also be captured by a series of camera images, with the result that so-called image stitching is possible. According to another exemplary embodiment, the clarity value of at least one part of the camera image is repeatedly calculated by evaluating the camera image in each case. This additional information can now contain the condition that after a movement of the sensor, ie after reaching at least one further pose, the clarity value must not drop or, in another case, must not leave a predefined permissible clarity range. Thus, the clarity range can be defined by a minimum clarity value.

[0088] - specifying that a sensor signal having at least one desired predefined characteristic is generated by a sensor designed as an optical sensor; in particular, the sensor signal can have the characteristics already mentioned above, i.e. in a confocal sensor, the maximum intensity of the measured signal is within a predefined wavelength range and / or at least reaches a predefined intensity value.

[0089] - Specifying a desired position of the sensor or a desired spatial region of the sensor with a position; this specification therefore relates to a target position for a movement of the sensor. In conjunction with the above-mentioned specification of a desired orientation, the pose of the sensor can therefore also be specified as a target for this movement, or a actually allowed pose of the sensor can be specified. For example, at a specified desired target position, a difference vector to the target position can be determined in each case from the current position of the sensor, and its direction can be specified as a favorable direction of movement.

[0090] -Specify the expected movement path of the sensor; for example, the movement can be defined by the movement direction. Thus, on the one hand, a predefined movement axis can be specified, which is continuously valid for the movement of the sensor. Alternatively or additionally, however, it is also possible to provide a movement direction for a movement that is not carried out along the movement axis in each case, or to define a constant movement direction for the continuous movement of the sensor. Another case is a movement path defined for the continuous movement of the sensor, but not a straight line. In general, therefore, any expected movement path can be defined for the sensor. If the above-mentioned coordinate system transformation is used to determine the favorable movement and / or the modification of the movement request, the direction of the favorable movement corresponding to the expected movement path can be determined for the current movement state of the sensor in each case, for example. In particular, a movement path related to an object, such as a measurement object in particular, can also be specified. For example, a movement can be specified as a spiral movement path around a spherical measurement object. In addition, the specified movement path related to the object does not have to be located on the surface of the object, but can be located, for example, at a specified distance from the object. Other examples include predefined lines in a plane or circles on a spherical surface.

[0091] - specifying the desired direction of movement of the sensor; in particular, in a manner similar to the above-described specification of the direction of movement from the current sensor position to the desired target position, the direction of movement can be specified, which, however, does not necessarily have to be related to the desired target position. Thus, for example, during an operating cycle, a favorable direction of movement can be specified, regardless of the current position of the sensor. Then, for example, if the direction of movement corresponding to the movement request is determined from the user's movement request, it can be completely changed to a favorable direction of movement, for example in order to obtain a modified movement request or to output a signal to the user. Since the same direction of movement still does not reveal the speed and acceleration of the sensor movement and the orientation of the sensor movement in the direction of movement, at least one of these variables can also / has been specified by additional information. Alternatively, the movement orientation (in the direction of movement or in the opposite direction of movement or at a positive or negative speed) can be determined from the user's movement request in any case. The speed and / or acceleration of the sensor can also be determined from the user's movement request.

[0092] - specifies an area in space consisting of the desired position of the sensor; this is a generalization of the previously described specification of the desired movement path. This is also a generalization of specifying the desired position of the sensor. In contrast to the movement path, it is allowed that the movement path is not specified exactly, but the position of the sensor must be within the area in space. For example, in a special case, the area in space can be the above-mentioned inclined surface. However, this inclined surface does not have to be a plane, but can be a so-called free-form surface.

[0093] The possibilities for specifying additional information are almost endless. The above specifications are only examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. In the various figures of the accompanying drawings:

[0095] Figure 1 shows a portion of a mechanism of a coordinate measuring machine having an optical sensor coupled to the mechanism and aligned with an area of ​​a workpiece to be captured,

[0096] Figure 2 A schematic block diagram of a coordinate measuring machine with a sensor is shown, e.g. Figure 1 The coordinate measuring machine to which the mechanism shown belongs,

[0097] Figure 3 shows representations with different poses of the sensor relative to the measurement object,

[0098] Figures 4 to 9 Different coordinate systems are shown for representing a program with a transformation of a move request, a modification of the move request, and a reverse transformation of the modified move request. DETAILED DESCRIPTION

[0099] Figure 1 The coordinate measuring machine mechanism 12 is shown. Figure 1 1 is not further shown. In this specific exemplary embodiment, the mechanism 12 is an articulated arm design. However, the invention is not limited to this type of mechanism. The mechanism 12 has arms 16, which are movably coupled to each other via joints 14. The sensor 1 is arranged at the free end of one of the arms 16. For example, the sensor can be an optical sensor or a tactile sensor. Specifically shown is an optical sensor, for example an imaging sensor, such as a camera. The axis of the sensor 1 (at Figure 11 ) corresponds to the main viewing direction of the sensor 1 and points to the area 7 to be captured on the surface of the workpiece 5. The workpiece 5 is an example of a measurement object. In addition, a handle 3 is fixed to the optical sensor 1 as an actuating device. The user can hold the handle 3 and control the movement of the sensor 1 by exerting a force on the handle 3 and therefore on the sensor 1. Since this is a motor-assisted coordinate measuring machine, and therefore, in particular this example of the reference mechanism 12, the rotational movement around the rotation axis of the joint 14 is motor-driven, and the movement performed by the user via the handle 3 is motor-assisted.

[0100] In particular, the motor function can also perform weight balancing so that the weight of the sensor 1 and the components of the mechanism 12 does not cause unintended movement. For example, if the user does not exert any force on the handle, the weight balancing enables the sensor 1 to maintain its position and orientation. On the other hand, if the user exerts force on the handle 3, the motor function (possibly except for certain operating states) assists the user in ensuring that the sensor 1 performs the desired movement. In particular, the motor function and / or Figure 1 The position measurement system of the coordinate measuring machine not shown in the figure can detect the movement of the optical sensor 1 initially caused by the applied force, and can generate a movement in the same direction as the applied force by a motor. In this case, the magnitude of the force and / or the period of the applied force can be a measure of the speed or acceleration at which the optical sensor 1 is intended to move. The motor function will then perform the movement at this speed or acceleration. Such a person-guided movement of an object is already known, for example, in lifting devices, and with regard to the fewer degrees of freedom of this movement, it is also already known in coordinate measuring machines. An example is a coordinate measuring machine called ScanMax provided by Carl Zeiss Industrial Measurement Technology Co., Ltd. in Oberkochen, Germany. However, the program and coordinate measuring machine of the present invention are not limited to the movement of the sensor with only a single degree of freedom or with a small number of degrees of freedom of this movement.

[0101] Figure 2 The schematic block diagram in FIG. 1 shows a coordinate measuring machine 10 having a sensor 1 . The same reference numerals in the different figures denote the same or corresponding devices and objects. Figure 2 Sensor 1 in can be Figure 1 Sensor 1 in. Figure 2 The sensor 1 in the coordinate measuring machine 10 is movable via a mechanism 12, and the mechanism 12 is driven by a drive 27, which has at least one motor and usually a plurality of motors. A drive controller 29 controls the drive according to instructions received by the drive controller 29 from a machine controller 23 of the coordinate measuring machine 10.

[0102] Figure 2The arrows in the figure show the corresponding control effects or signal transmission or information collection. For example, the sensor 1 captures the workpiece 5, as shown by the arrow. The drive controller 29 controls the drive 27, wherein, optionally (not shown), the drive 27 can transmit a signal from a tachometer generator to the drive controller 29, as a result of which the drive controller 29 can control the movement state of the drive 27 according to the description.

[0103] The position measurement system 25 of the coordinate measuring machine 10 measures the position and / or orientation of the mechanism 12, and therefore measures the position and / or orientation of the optical sensor 1 arranged on the mechanism 12. The position measurement system 25 transmits the position determination result to the machine controller 23. In addition, a mobile controller 21 is provided, and allows the user to control the movement of the optical sensor 1 via the actuator 22. The control signal generated in this way is transmitted from the mobile controller 21 to the machine controller 23. Conversely, in particular in certain operating states, the machine controller 23 is able to generate a signal that can be perceived by the user after being output to the user. In particular, in the exemplary embodiment specifically shown here, the signal generated by the machine controller 23 is output via the mobile controller 21 and the actuator 22. Other possibilities (such as acoustic or visual representation) have already been mentioned. Further, as Figure 1 As shown, the actuating device 22 can be the optical sensor 1 or an object which is particularly firmly connected to the sensor 1 .

[0104] Figure 3 The optical sensor 1 is shown in two different positions and orientations. Figure 3 Further to the right in FIG. 3 , the optical sensor 1 is shown with a viewing direction to the lower left on the surface of the measurement object (as indicated by the long arrow). This viewing direction does not coincide with the direction of the surface normal of the surface 31. Figure 3 , the surface normal is represented by an arrow extending vertically upwards. However, after bringing the sensor 1 into a different orientation relative to the surface 31 of the measurement object (as indicated by the curved arrows), the viewing direction of the optical sensor 1 and the surface normal correspond to each other. However, the surface normal is usually represented by a direction vector pointing away from the surface, with the result that the viewing direction and the surface normal vector point in opposite directions.

[0105] For example, in Figure 3 In the exemplary embodiment shown, the user has controlled the sensor 1 by actuating the movement controller to the position shown further to the right, specifically according to the dashed line representation of the sensor 1, wherein the orientation of the sensor 1 is vertically downward. The movement request expressed by actuating the movement controller is not modified, and no signal is output to the user in order to prompt the user to actuate the movement controller in the desired manner. However, upon reaching the position Figure 3 After the position shown further to the right in the middle, start assisting the user to reach Figure 3The target gesture of the sensor 1 shown further to the left in FIG. For example, the user turns on the assistance by actuating the corresponding operating device.

[0106] The target pose is specified in the additional information required for assistance. Figure 2 In the exemplary embodiment of the present invention, any additional information may be provided to the machine controller 23, for example by communicating with the data storage device ( Figure 2 The data storage device can be provided by a data transmission connection (also not shown) (not shown in the figure). The data storage device does not have to be arranged at the location of the coordinate measuring machine, but this is also a possibility. In particular, the data storage device can be a distributed data storage device, for example, as in the case of a data cloud on the Internet. For example, the data storage device can also be at least partially located at a remote location and the additional information can be transmitted via a data transmission network such as the Internet.

[0107] refer to Figure 2 In the exemplary embodiment, if the user now actuates the actuating device 22 and thereby the mobile controller 21 so as to bring the sensor 1 into the target posture, then according to the first configuration, the user's movement request is modified (if necessary) to cause the sensor 1 to move in the position direction of the target posture, or, according to the second configuration, a signal that can be perceived by the user is output, which indicates that the user actuates the mobile controller 21 in such a way that the sensor 1 moves in the position direction of the target posture.

[0108] Since the target pose also determines the orientation of the sensor 1, the user is preferably also assisted in adjusting the orientation. Depending on the embodiment of the assistance, there are different options for this. For example, the orientation of the sensor 1 can be determined by a feature of the measurement object to be captured. In other words, the orientation of the sensor 1 must be set so that the feature of the measurement object is captured. For example, the feature can be a specific edge or a hole on the workpiece. Therefore, the machine controller (e.g. Figure 2 The machine controller 23 of the sensor 1 can be configured such that it uses the sensor signal from the sensor 1 to determine whether the feature has been captured. If this is not the case, or it is clear from the measurement signal over time (i.e. the measurement signal repeatedly evaluated by the machine controller) that the feature will no longer be captured in future extrapolations, the machine controller generates a signal and / or modifies the user's movement request, depending on the configuration of the assistance to the user as described above, so that the feature is captured or remains captured during repeated captures of the measurement object.

[0109] According to another option for setting the advantageous orientation, the orientation is specified relative to a coordinate system, such as that of a coordinate measuring machine. This also allows the machine controller to generate a signal and / or modify the user's movement request depending on the configuration of the user assistance so that the feature is captured or remains captured during repeated captures of the measurement object.

[0110] Back to Figure 3 In the exemplary embodiment, the sensor 1 assists the user in entering Figure 3 The posture shown in the upper left of the figure is the target posture. Depending on the auxiliary embodiment, the sensor 1 can first be made to Figure 3 Enter the gesture shown by the dashed line Figure 3 Use the dashed line in the upper right corner, and then enter the rotational freedom of the movement Figure 3 Alternatively, the sensor 1 may enter the position from the position band illustrated using dashed lines by linear movement corresponding to the linear degrees of freedom of movement. Figure 3 The posture shown in the upper left corner. If reference is made here to a rotational degree of freedom or a linear degree of freedom of the movement, this degree of freedom does not necessarily have to correspond to one of the degrees of freedom of the movement given in each case according to a separate motor. In particular, therefore, in order to achieve a movement as described above, the target posture and the movement request can be transformed into a coordinate system in which the corresponding degree of freedom of the movement (the rotational degree of freedom or the linear degree of freedom) exists as a degree of freedom independent of the other degrees of freedom. For example, in this sense, in a Cartesian coordinate system, there are three linear degrees of freedom of the movement corresponding to the three coordinate axes. As already mentioned, this transformation has the advantage that a component of the movement request can be set to zero at least with respect to at least one degree of freedom of the movement. Subsequently, as in the configuration already described in other parts, a modified movement request or an advantageous inverse transformation of the movement to the coordinate system can be performed, which helps the mobile controller to control the movement or generate a signal that can be perceived by the user.

[0111] Reference now Figures 4 to 9 An exemplary embodiment of the method according to the invention is described. In particular, the description of this exemplary embodiment relates to the modification of a movement request of a user. However, alternatively or additionally, the vector generated as a result of the procedure can also be the basis for generating and outputting a signal to the user indicating how the user can actuate the movement controller in order to control the advantageous movement based on the additional information.

[0112] Figure 4 shows an inclined plane in the first coordinate system. Figure 4 In the example, the contours are represented by parallelograms. However, these contours do not represent the edges of the surface or plane, but are only used to be able to identify the orientation of the inclined surface. Figure 4 In FIG. 4 , the end of a probe 41 with a detection ball 43 is shown as an example of a sensor. The first coordinate system is a Cartesian coordinate system. The three coordinate axes are also Figure 4The inclined surface is inclined in the first coordinate system because it is not spanned by two of the three coordinate axes. In other words, the inclined surface is not perpendicular to one of the three coordinate axes.

[0113] Figure 5 shows the first coordinate system and the inclined plane, without Figure 4 probe 41. Furthermore, an arrow symbolizing a vector is shown in the selected representation within the parallelogram outline. The direction of the vector corresponds to the user's movement request, which has been generated by the user by actuating the movement controller. Accordingly, the sensor (in this case, for example, the probe 41) should move in the direction of the vector. Optionally, the length of the vector also corresponds to the absolute value of the speed or acceleration of the movement of the sensor according to the user's movement request. In general, the vector does not extend within the inclined surface. This is not the case in the specifically selected exemplary embodiment. Instead, the vector points to the space to the right below the inclined plane.

[0114] Figure 6 A second coordinate system is shown, also a Cartesian coordinate system, in which Figure 4 and Figure 5 The inclined surface in the first coordinate system extends horizontally, or more generally, is spanned by two coordinate axes of the second coordinate system. The second coordinate system is the transformed coordinate system. The first coordinate system and all objects defined therein (here the mentioned inclined surfaces and vectors) can be transformed into the second coordinate system by a corresponding transformation. The transformation is chosen in such a way that the inclined plane in the first coordinate system is now no longer inclined. Starting from the first coordinate system, there is the option of at least two further transformations to other transformed coordinate systems, in which the inclined plane in the first coordinate system is also not inclined. However, for the exemplary embodiments described here, it is sufficient if any possible transformation is performed. The coordinate axes of the coordinate systems are in the same order as Figure 4 and Figure 5 A similar approach is shown by three arrows in Figure 6 These are the axes representing the first untransformed coordinate system. This allows the relative pose of the first and second coordinate systems to be seen.

[0115] Transforming the tilted surface to a second coordinate system also transforms the vector. However, the relative attitude of the vector with respect to the now no longer tilted plane is the same as Figure 4 and Figure 5 Same as shown. Figure 6 In the illustration of , the vector points into space below the plane, where, as before, it defines an axis that intersects the plane.

[0116] Figure 7 Shown as Figure 6However, a second projection vector is also shown, specifically, Figure 7 In the representation of , the projection vector extends above the original first vector. This projection vector extends in a plane and is obtained by projecting the first vector onto the plane. The starting point of the first vector in the exemplary embodiment is in the plane. However, the starting point of the first vector may also be outside the plane, and the first vector itself does not need to intersect the plane. In all these cases, however, the first vector can be projected onto the plane and a projection vector is thus generated.

[0117] Figure 8 Shown also in Figure 4 and Figure 5 The inversely transformed plane in the first coordinate system now also acts as an inclined plane with an equally inversely transformed projection vector. Fig. 9 The tilt plane, projection vector and the tip of the probe 41 are also shown in the second coordinate system, but with the same Figure 8 In this case, the projection vector at the probing sphere 43 of the probe 41 begins to indicate that the modified movement request affects the probing sphere 43, in particular its center point. In particular, if the first coordinate system is the coordinate system of a coordinate measuring machine, the inversely transformed projection vector defines at least the movement direction of the user's modified movement request and optionally also defines the speed or acceleration of the modified movement request depending on the length of the projection vector.

[0118] According to the above procedure, since any first vector corresponding to the user's movement request can be projected into the inclined surface (or another inclined surface), the modified movement request is available in all cases. Figures 4 to 9 The exemplary embodiments described in detail are different in two special cases. On the one hand, the first vector may be perpendicular to the inclined surface, i.e. the user wants the sensor to move in a direction perpendicular to the inclined surface. In this case, the result is a modified movement request in the form of a vector, the length of which is zero, corresponding to the stationary state of the sensor or (for example, if the movement request involves the acceleration of the sensor) corresponding to no change in the movement of the sensor. The second special case is that the first vector has been extended within the inclined surface. In this case, the projection does not change any information about the first vector, and the first vector is equal to the projection vector. This corresponds to the case where the user's movement request is not modified. In addition, even in the first coordinate system, the plane may not be inclined, i.e. it may be spanned by two coordinate axes in the case of a Cartesian coordinate system. In this case, the steps of transforming the coordinate system and the inverse transformation can be omitted, and the vector corresponding to the user's movement request can be projected onto a non-inclined plane without transformation to obtain a modified movement request.

[0119] From reference Figures 4 to 9 It can be made clear from the described exemplary embodiments that an inclined plane can be a special case of the additional information. Therefore, if the additional information is specified in such a way that the movement of the sensor or the acceleration of the sensor is intended to be performed only within or parallel to the inclined surface, the modified movement request can be determined in the described manner. However, in the case of other additional information, the transformation of the first coordinate system into the second coordinate system performed in the process and the subsequent reverse transformation can also be performed in order to determine the modified movement request. Before describing the accompanying drawings, an example has been discussed above, specifically the case where a tactile sensing device with a defined size of deflection from a rest position is intended to detect multiple surface points on a calibration sphere, specifically the deflection direction in each case being perpendicular to the tangential plane of the detected surface point.

[0120] For example, however, instead of an inclined plane, a straight axis or a linear axis oriented in any desired manner in space can also be specified as additional information in order to specify the direction of movement or the direction of acceleration. In this case, the first vector corresponding to the user's movement request can be shifted so that it starts at the axis or intersects the axis. In a similar manner to the two special cases defined above for inclined surfaces, there are special cases where the shifted vector or even the unshifted vector intersects the axis perpendicularly and where the shifted vector or even the unshifted vector extends on the axis.

[0121] The first vector can then be projected onto the axis and a second vector corresponding to the modified movement request is obtained in this way.

[0122] It should also be noted that the tilt plane can be defined as additional information only for a single point in time and is therefore only used to determine the modified movement request for the movement request valid at a single point in time. In particular, this makes it possible to determine suitable tilt planes for different points in time according to the additional information specified in general. For example, this is a generalization of the procedure described above when calibrating the tactile sensing device by a calibration ball in each case in the case of a deflection perpendicular to the tangential plane at the detected surface point. The straight axis can also be valid only for a single point in time as additional information and can be oriented differently in space, for example, for each additional point in time. For example, this allows the path curve specified according to the additional information, the movement direction valid at different points in time according to the movement along the specified path curve to be defined, and therefore the modified movement request to be determined in each case. Then, the direction of the axis is determined depending on the progress of the movement along the specified path curve. If the sensor is located at a certain point on or along the path curve, the tangent of the path curve is determined at this certain point and the axis is formed in space.

[0123] A similar procedure can be used for the rotational degrees of freedom of the movement of the sensor. For example, if the movement request desires a rotation around a first rotation axis corresponding to the movement request at a certain point in time, but the additional information requires a rotation around another rotation axis, a vector pointing in the direction of the first rotation axis and thus representing the desired rotation can be projected onto the other rotation axis. Optionally, the direction of the vector can represent the orientation of the rotational movement. Furthermore, optionally, the length of the vector can represent the rotational speed or the rotational acceleration. If it is desired to simplify the calculation method, a transformation before the projection and the subsequent inverse transformation of the coordinate system can also be optionally performed.

[0124] In general, all mentions and corresponding projections of the first vector corresponding to the user's movement request can also be performed without transformation and inverse transformation of the coordinate system. Therefore, according to a preferred embodiment of the method, the following is proposed: the movement request expressed by the user is used to determine the vector representing the movement request at a given point in time. In addition, according to the specified additional information, a plane or a linear axis valid for a given time of the movement request is defined. The vector is projected onto the plane or the axis, and a projection vector corresponding to the modified movement request or defining a favorable movement according to the additional information is obtained, based on which a signal is generated and output to the user so that the user understands how he should actuate the movement controller so that the sensor performs a favorable movement.

[0125] refer to Figures 4 to 9 An exemplary embodiment of the method is described hereinafter. The arrangement described in this description can be configured accordingly. For example, the modification device mentioned in the arrangement can be configured accordingly, or the signaling device mentioned can be configured accordingly. In particular, the machine controller, for example, Figure 2 The depicted machine controller 23 may be a signaling device or part of a signaling device, for example that part which determines an advantageous movement taking into account the additional information and taking into account the movement request, for controlling the movement intended by the user.

[0126] At this point, it should also be mentioned how the arrangement of devices can be implemented. The capture device, as well as the retrieval device, the modification device and / or the signaling device can, for example, be part of a machine controller of a coordinate measuring machine, and / or a device external to the coordinate measuring machine can be provided for implementation. The capture device, as well as the retrieval device, the modification device and the signaling device can all be implemented by a computer program, which is executed on a computer or a computer arrangement. The type of computer is not restricted. In particular, the computer arrangement can also be a locally distributed arrangement, such as in the case of computers that are connected to each other via a communication network, such as the Internet and / or a company intranet.

[0127] Therefore, the scope of the arrangement of the present invention includes a data processing device, which includes a device for performing the method, in particular the method in one of the described configurations. The device can, for example, consist of a single computer or a computer network or include the computer or the computer network. Regarding its operation method, the computer or at least one computer can be in particular an analog computer, a digital computer and / or a hybrid computer. In terms of size and design, it can be a smart phone, a personal digital assistant (PDA), a tablet computer, an embedded system (for example embedded in the control computer of a coordinate measuring machine), a single-board or multi-board computer, a personal computer (PC), a desktop computer, a workstation computer, a host or server integrated into a computer network, a thin client computer, a netbook, a laptop, a laptop computer, a mainframe computer or a supercomputer, wherein a part of the types described can be implemented by a single computer (such as a multi-board PC). In addition, the computer or at least one computer can have one or more central processing units (CPU) and / or one or more computing cores per CPU. A graphics card or other dedicated card with a processor as part of a computer can also be a device for performing the method alone or in combination with other computers or processing units.

[0128] Reference numerals list: 1 Optical sensor 3 Handles 5 Workpiece (measurement object) 7 Area to capture

[0129] 10 Coordinate Measuring Machine

[0130] 12 Institutions

[0131] 14 Joints

[0132] 16 Arm 21 Mobile Controller

[0133] 22 Actuator

[0134] 23 Machine Controller

[0135] 25 Position measurement system

[0136] 27 Driver

[0137] 29 Drive Controller

[0138] 31 Measuring the surface of the object 41 Probe 43 Detection Ball

Claims

1. A method for an operator-guided, motor-assisted coordinate measuring machine (10), wherein: The coordinate measuring machine (10) has a sensor (1) for capturing the coordinates of a measurement object (5), and a movement controller (21) which can be actuated by a user in order to control the movement of the sensor (1) relative to the measurement object (5), and wherein the method comprises the following steps: a) capturing the user's mobile request by a capture device, b) retrieving additional information about at least one advantageous movement of the sensor (1) by means of a retrieval device, and c) generating and outputting at least one signal perceptible to the user, wherein the signal indicates to the user to actuate the movement controller (21) so that the sensor (1) performs a beneficial movement according to the additional information.

2. A method for an operator-guided, motor-assisted coordinate measuring machine (10), wherein: The coordinate measuring machine (10) has a sensor (1) for capturing the coordinates of a measurement object (5), and a movement controller (21) which can be actuated by a user in order to control the movement of the sensor (1) relative to the measurement object (5), and wherein the method comprises the following steps: a) capturing the user's mobile request by a capture device, b) retrieving additional information about at least one advantageous movement of the sensor (1) by means of a retrieval device, d) modifying the user's movement request according to the additional information by modifying the device, thereby obtaining a modified movement request, and e) controlling the movement of the sensor according to the modified movement request by a motor controller of the coordinate measuring machine (10).

3. The method of claim 2, wherein: The steps to modify the move request include: - modifying the desired direction of movement of the sensor according to the movement request to a modified direction of movement of the sensor according to the additional information, and / or - modifying the desired rotational movement of the sensor according to the movement request to a modified rotational movement of the sensor according to the additional information.

4. The method according to claim 2 or 3, wherein: The coordinate measuring machine allows the sensor to move with the assistance of a motor and in at least two degrees of freedom of the movement, and wherein the step of modifying the movement request includes modifying the movement request with respect to at least a first degree of freedom of the movement and maintaining the movement request with respect to at least a second degree of freedom of the movement.

5. The method according to any one of claims 1 to 4, wherein: The method further comprises generating the additional information by at least one of the following steps: - specifying a desired deflection or a desired deflection range of the sensor designed as a tactile sensing device, - specifying a desired state of the sensor designed as a tactile sensing device, - specify a desired orientation or a range of desired orientations for the sensor, - specifies that the sensor signal generated by the sensor has predefined characteristics, - specifying that the sensor, which is designed as an optical sensor, captures a predefined feature of the measurement object, - specifying that a sensor signal having at least one desired predefined characteristic is generated by the sensor being designed as an optical sensor, - specifying a desired location of the sensor or a desired spatial region having a location of the sensor, - specify the desired movement path of the sensor, - specify the desired direction of movement for the sensor, and / or -Specify the region in space consisting of the expected location of the sensor.

6. An arrangement with a personnel-guided, motor-assisted coordinate measuring machine (10), wherein: The coordinate measuring machine (10) has a sensor (1) for capturing the coordinates of a measurement object (5), and the arrangement has a movement controller (21) which can be actuated by a user in order to control the movement of the sensor (1) relative to the measurement object (5), and wherein the arrangement has: a) a capture device configured to capture the user's movement request, b) a retrieval device configured to retrieve additional information about at least one advantageous movement of the sensor (1), and c) a signaling device configured to generate and output at least one signal perceptible by the user, wherein the signal indicates to the user to actuate the movement controller (21) so that the sensor (1) performs an advantageous movement according to the additional information.

7. An arrangement with a personnel-guided, motor-assisted coordinate measuring machine (10), wherein: The coordinate measuring machine (10) has a sensor (1) for capturing the coordinates of a measurement object (5), and the arrangement has a movement controller (21) which can be actuated by a user in order to control the movement of the sensor (1) relative to the measurement object (5), and wherein the arrangement has: a) a capture device configured to capture the user's movement request, b) a retrieval device configured to retrieve additional information about at least one advantageous movement of the sensor (1), d) a modification device configured to modify the user's movement request according to the additional information, thereby obtaining a modified movement request, and e) A motor controller configured to control movement of the sensor according to the modified movement request.

8. The arrangement of claim 7, wherein: The modification device is configured to: modify the expected direction of movement of the sensor according to the movement request to a modified direction of movement of the sensor according to the additional information, and / or - modifying the desired rotational movement of the sensor according to the movement request to a modified rotational movement of the sensor according to the additional information.

9. An arrangement as claimed in claim 7 or 8, wherein: The coordinate measuring machine allows the sensor to move with the assistance of a motor and with at least two degrees of freedom of the movement, and wherein the modification device is configured to modify the movement request with respect to at least a first degree of freedom of the movement and to maintain the movement request with respect to at least a second degree of freedom of the movement.

10. An arrangement as claimed in any one of claims 6 to 9, wherein The arrangement further includes a generating device, which is configured to generate the additional information and take at least one of the following measures in the process: - specifying a desired deflection or a desired deflection range of the sensor designed as a tactile sensing device, - specifying a desired state of the sensor designed as a tactile sensing device, - specify a desired orientation or a range of desired orientations for the sensor, - specifies that the sensor signal generated by the sensor has predefined characteristics, - specifying that the sensor, which is designed as an optical sensor, captures a predefined feature of the measurement object, - specifying that a sensor signal having at least one desired predefined characteristic is generated by the sensor being designed as an optical sensor, - specifying a desired location of the sensor or a desired spatial region having a location of the sensor, - specify the desired movement path of the sensor, - specify the desired direction of movement for the sensor, and / or -Specify the region in space consisting of the expected location of the sensor.

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