Operation of a coordinate measuring machine with a person-guided sensor

Abstract

The invention relates to a method for operating a person-operated, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a sensor (1) for detecting coordinates of a measurement object (5) and a motion control (21) which can be operated by a user to control a movement of the sensor (1) relative to the measurement object (5), and wherein the method comprises the following steps: a) Recording a user's movement request by a recording device, b) Retrieving additional information regarding at least one favorable movement of the sensor (1) by a retrieval device, c) Modifying the user's movement request according to the additional information by a modification device, so that a modified movement request is obtained, and d) Generating and outputting at least one user-perceivable signal, wherein the signal indicates to the user to operate the motion control (21) in such a way that the sensor (1) performs a movement favorable to the additional information, e) alternatively or in addition to step d): Controlling a movement of the sensor according to the modified movement request by a motor control of the coordinate measuring machine (10).

Description

[0001] The invention relates to a method for operating a coordinate measuring machine with a person-guided sensor and motor assistance, and further relates to such a coordinate measuring machine. The motor assistance assists the user with regard to the movement of the sensor. Furthermore, the coordinate measuring machine has a motion control that can be actuated by a user (i.e., a person) to control a movement of the sensor relative to a measurement object. The movement of the sensor can be a movement relative to a fixed base of the sensor. However, it is also possible for the movement to be a relative movement of the sensor with respect to the measurement object, and for the relative movement to also occur at least partially due to movement of the measurement object.

[0002] The term coordinate measuring machine covers all types of devices that can be used to determine the coordinates of workpieces. In a certain class of coordinate measuring machines, the coordinates are surface coordinates, i.e., the coordinates of surface points on workpieces are determined. The term coordinate measuring machine particularly includes classic coordinate measuring machines, for example devices with a portal or gantry design and coordinate measuring machines with a movable bridge, on which a quill with a sensor that can be moved relative to the bridge is mounted, horizontal arm devices, articulated arm devices, and devices with a hexapod mechanism. It is also not necessary for the sensor to be attached to a mechanically rigid structure, although this is preferred. Instead, cameras in particular have been used on mechanisms such as cable structures for purposes other than measuring coordinates.So-called cable cameras are known, for example, from the camera-based transmission of sporting events. In order to determine the position and orientation of the camera and thus achieve the functionality of a coordinate measuring machine, camera-based positioning systems can be used. For example, at least two observation cameras from different viewing directions record the position and orientation of the main camera, which records the measuring object. The term coordinate measuring machine also includes machines that are not primarily designed as coordinate measuring machines, but are set up to work like a coordinate measuring machine. In particular, these machines have at least one measuring sensor that is used to determine the coordinates. Known examples are machines whose mechanics, for example,constructed in the manner of articulated-arm robots, and which, instead of or in addition to a tool, have a sensor for detecting the workpiece surface (e.g., a fringe projection sensor), or machine tools to which a measuring sensor is attached instead of or in addition to a machining tool. Hexapod mechanisms, for example, are also known, to which a sensor for detecting the workpiece surface (e.g., a tactile sensor) is attached instead of a machining tool. In particular, the aforementioned types of mechanics can be implemented not only in machine tools and robots, but also in coordinate measuring machines, which serve exclusively or primarily the purpose of determining the coordinates of a measuring object.When this description refers to a measuring object, this particularly includes the case of a workpiece or an arrangement of workpieces.

[0003] Coordinate measuring machines with a person-guided sensor (i.e., control of sensor movements by a user) and motor assistance form a subclass of coordinate measuring machines. They enable a user to move the respective sensor into a position and / or orientation in which the sensor can detect and / or contribute to determining the coordinates of a measuring object for the purpose of determining the coordinates of the measuring object, through direct mechanical contact of at least one body part (optionally via a transmission device such as a glove) of the user with the sensor and / or with a mechanism of the coordinate measuring machine and / or with at least one separate control means (such as a joystick). An advantage of devices in this subclass is that the devices are very easy to commission.An engine is any power machine that performs mechanical work or at least generates mechanical force by using a form of energy other than mechanical energy to generate the work or force. In particular, engines convert electrical energy into mechanical work / force.

[0004] The mechanical contact of at least one body part of the user, in many cases one hand or both hands, with the coordinate measuring machine can take place directly (or via a contact means such as a glove) with the sensor to be positioned and / or with a device part that is fixedly or movably connected to the sensor. An example of a device part is a handle and / or projection. In the case of a device part, this is preferably movable together with the sensor, but preferably immovable relative to the sensor, and the movement of the sensor can be clearly controlled, in particular by person-guided movement of the device part. In this case, the user at least contributes to the movement by generating a mechanical force and thereby performing mechanical work.If the sensor is a tactile sensor, then in a special embodiment, a detection device can be present which detects, in particular, a mechanical action on the sensor and in this way contributes at least to determining the coordinates of the measuring object surface contacted by the tactile sensor. For example, detection means are known as part of the detection device which detect an elastic deflection of the tactile sensor from its rest position, and preferably also the direction of the deflection. If the elastic properties and in particular the spring constant are known, then the force acting on the tactile sensor can also be determined from the deflection. In addition, so-called active tactile sensors are known which generate a force and can, in particular, regulate it to a set value with which the tactile sensor contacts a surface.Such active tactile sensors also have a detection device that can detect the force acting on the tactile sensor. In the aforementioned cases, it is possible for the detection device to detect a force exerted by the user on the tactile sensor and generate a corresponding signal, which it transmits to a central control unit of the coordinate measuring machine and / or to the motor control unit of the coordinate measuring machine.

[0005] However, the detection of the user's influence is not limited to the detection being implemented as part of a measuring device of the sensor. Rather, the detection device can, for example, be part of at least one drive for the movement of the sensor, or use parts of the drive. In particular, the motor system of the coordinate measuring machine can have detection means for detecting the movement of the motor or motors in a conventional manner, such as a tachogenerator, and in this way a movement caused by the user's influence can also be detected. A kinematic model of the mechanics of the coordinate measuring machine can be used for this purpose. If the movements of different motors are each detected by at least one detection means, the movement of the sensor can be inferred from the kinematic model.The movement generated by the user's action can be very small and, for example, in a typical operating mode for non-person-guided coordinate measuring machines, would result in a control system implemented in the motor controller reversing the movement or compensating for it when a predefined movement is executed. However, in the case of a person-guided coordinate measuring machine, the user's desired movement can be determined from the detected movement initiated by the user, and the currently executed movement can be modified accordingly and / or a new movement can be executed.

[0006] In more general terms, the force exerted by the user on the tactile sensor (in particular continuously over time) and / or the movement of the tactile sensor caused by the user during a time interval can be detected by a detection device, and a corresponding operation of the motor system can take place based on the result of the detection. In particular, the detection and the corresponding operation of the motor system can take place continuously. For example, a clear movement request can be defined by the force exerted by the user and / or the movement caused by the user, and this movement request can be converted into a movement of the sensor by the motor system (optionally with the involvement of the central control system). The coordinate measuring machine can be designed accordingly.If, in a different embodiment of the method and the coordinate measuring machine, the user does not directly act on the sensor, as in the case of the separate control means mentioned above, then the same applies.

[0007] However, designs are also possible whose motor system performs the mechanical work performed during the movement of the sensor completely, or at least completely during certain movements. This, in turn, does not preclude, and is often preferred, the possibility of the person exerting a mechanical force on the sensor and / or the device part to control the movement. If at least a separate control device is present, 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, a motor control system of the coordinate measuring machine, which includes at least one motor and a motor controller, can obtain the information required to execute the control, for example, from a mechanical force exerted by the user and / or mechanical work performed by the user on the coordinate measuring machine. The motor(s) can also be referred to as a drive. The motor controller can also be referred to as a drive controller.

[0009] The motor assistance can therefore consist in particular in the amount of mechanical work or mechanical power to be exerted by the user being reduced, depending on the type of assistance even down to zero. However, the degree of reduction can vary over time in some types of coordinate measuring machines. If at least one separate control means is used, a mechanical force, power and / or work exerted on the control means can vary over time. For example, a greater mechanical force may be required from the user to generate a movement of the sensor from rest and / or to change a movement speed of the sensor than the force required to maintain a movement of the sensor that has already begun, defined by a movement speed vector.For example, the motor system can completely generate the mechanical work required to maintain the movement that has already begun, wherein the user preferably has the option of slowing down or stopping the movement (particularly with motor support), for example by applying a force that is opposite to the direction of movement. Alternatively or additionally, the user preferably has the option of changing the direction of movement and optionally also the speed of movement by applying a force that is perpendicular to the direction of movement. Furthermore, alternatively or additionally, the user preferably has the option of accelerating the movement.In the case of at least one separate control means, a direction of interaction of the user with the control means may correspond to a direction of movement of the sensor and may therefore apply accordingly as described in the immediately preceding three sentences.

[0010] In particular, the invention relates to such (previously described) human-guided, motor-assisted coordinate measuring machines. An alternative to this is that when the user controls the movement, there is no mechanical contact with the sensor or any other part of the coordinate measuring machine's mechanics (such as the aforementioned device part), nor is there any mechanical contact with a separate control means, but rather the user controls the movement using gestures, for example, hand gestures or eye movement gestures. Such gesture controls are known in the field of controlling the movement of machines and will not be described in detail here.

[0011] Even if the inventors, as the starting point of the invention, are unaware that such human-guided coordinate measuring machines have already been proposed, it is also possible for a human-guided coordinate measuring machine to control a movement of the sensor using motor control in certain operating situations, without taking into account any user input regarding this executed movement. Such movements will be referred to below as "fully automatically controlled movement."

[0012] One application of the invention is therefore also a person-controlled coordinate measuring machine which temporarily and / or temporarily and in particular in at least one predefined operating situation carries out a fully automatically controlled movement.

[0013] The present invention relates in particular to all previously described types and variants of coordinate measuring machines with at least one person-guided sensor and motor support.

[0014] The sensor can be any sensor suitable for a coordinate measuring machine, such as a tactile sensor or an optical sensor. Already mentioned above, in the case of a tactile sensor, the detection of the sensor's deflection and active sensors (which are also offered on the market under the name active measuring heads) were mentioned. Alternatively, as mentioned, the sensor can be an optical sensor. This means in particular that there does not have to be any mechanical contact between the sensor and the measuring object, although mechanical contact, for example between the edge of the sensor's optics and the measuring object cannot be completely ruled out. Optical sensors detect the measuring object using electromagnetic radiation. Optionally, measuring radiation is radiated onto the measuring object. However, in the case of camera sensors, for example, the measuring radiation is often limited to radiation falling on the measuring object from the environment.With another type of camera sensor, spatially structured measuring radiation is radiated onto the measurement object, for example a grating structure or another predetermined structure. With knowledge of the structure, depth information can then be obtained. Camera sensors often capture a two-dimensional image of the measurement object within the detection area, where both dimensions extend perpendicular to the viewing direction of the camera. However, the invention also relates to one-dimensional camera sensors such as line scan cameras. In particular, the camera can therefore have at least one matrix of sensor elements, which in the case of the two-dimensional image is two-dimensional and, for example, has sensor elements arranged in rows and columns, and which in the case of the line scan camera has a row of sensor elements.In the case of both the one-dimensional and the two-dimensional camera image, additional depth information can be determined, whereby different measuring principles can be used, such as the aforementioned use of locally structured measuring radiation and / or by applying the TOF (Time of Flight) principle, i.e. the principle of time-of-flight measurement.

[0015] If it's an imaging sensor, then the sensor has a non-point detection area for capturing at least part of a measurement object. Unlike a laser triangulation sensor, for example, a camera sensor is imaging. However, as is often the case with cameras with a sensor matrix, the sensor may not capture the individual pixels of the image exactly simultaneously, but rather pixel by pixel across each individual image line. Other known methods of capturing images pixel by pixel can also be implemented.

[0016] However, the invention is applicable not only to imaging optical sensors, but also to sensors with a point-like detection range. Examples of such sensors are confocal chromatic sensors (e.g., white light sensors) and laser triangulation sensors. The fact that these are optical sensors with a point-like detection range nevertheless makes it possible to detect larger than point-like surface areas of the measurement object by implementing a relative movement between the sensor and the measurement object. Point-like means that a usually very small, almost point-like detection range is not detected and evaluated with any further spatial resolution. With imaging sensors, on the other hand, the detection range is spatially subdivided during detection and evaluation.

[0017] Coordinate measuring machines with a human-guided sensor allow the user to easily move the sensor into a desired position. However, it is difficult for the user to set both a suitable distance between the sensor and the measuring object and a suitable orientation of the sensor. This is particularly problematic when the sensor is to be moved into various desired relative positions to the measuring object, and especially when the orientation of the sensor relative to the measuring object also varies. The combination of relative position and orientation of the sensor is referred to below as the pose. A special case of the various poses is the scanning of the surface of the measuring object. If, for example, the surface of the measuring object is to be scanned in a desired section plane using a tactile sensor, this is hardly possible with human guidance.Scanning the surface of the measuring object does not only occur with tactile sensors, but also with the use of other sensors, especially optical sensors.

[0018] It is an object of the present invention to provide a method for operating a sensor on a person-guided, motor-assisted coordinate measuring machine and a corresponding coordinate measuring machine, which make it easier for the user to detect a measuring object in the desired manner if the sensor is to assume at least two different poses relative to the measuring object.

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

[0020] The present invention relates in particular to the above-described types and variants of coordinate measuring machines with at least one person-guided sensor and motor assistance. At least in one embodiment of the invention, a further feature is added, namely that the person, i.e. the user, can receive haptically perceptible feedback from the motor assistance as to the direction in which the sensor should and / or should not be moved. The term direction refers not only to at least one linear degree of freedom of movement, but alternatively or additionally also to at least one rotational degree of freedom of movement. It can therefore be at least one rectilinear direction and / or at least one direction of rotation. The perceptible feedback can therefore also relate to the orientation of the sensor relative to the measurement object.The invention additionally encompasses embodiments in which at least one movement component of the sensor is not implemented by the motor system of the coordinate measuring machine at a given time when the movement is executed, despite the user's desired movement. This will be discussed in more detail below. This does not preclude the user from also receiving the aforementioned feedback.

[0021] In particular, the invention is not related to the movement of the sensor relative to the measurement object, but optionally also to at least one optical degree of freedom. This means that an adjustment of properties of an optical system of the sensor designed as an optical sensor is possible. In particular, this adjustment of properties of the optical system enables a change in the suitability and / or quality of the detection of the measurement object by the sensor. In particular, it is possible for the adjustment of the optical degree of freedom to take place entirely or partially automatically. Examples are discussed below. Alternatively or additionally, the state with regard to the optical degree of freedom can be set in a user-guided manner. In this case, at least one signal can be generated and output in a way that is perceptible to the user.Furthermore, alternatively or additionally, when a favorable state of movement is reached, a change in the state with respect to the optical degree of freedom can be mechanically inhibited or blocked, for example by inhibiting or blocking a relative movement and / or deformation of optical lenses.

[0022] Autofocus functions of optical sensors can be implemented in various ways. A simple implementation involves automatically adjusting the distance between the sensor and the object it is to detect. For example, it has long been known to combine an optical system with a zoom function based on adjusting the distance between individual lenses of the system with a device for detecting a sharp image. For example, by adjusting the distance between the lenses, the focus can be changed so that the viewed image area is sharply imaged, and in particular, the focus can be changed until the viewed image area is sharply imaged.Alternatively, other systems with an autofocus function can be used in which the focus is adjusted, for example, by a Micro-Mirror Array Lens System (MALS), as used, for example, in the Visioner 1 digital microscope from the Carl Zeiss AG group of companies, Oberkochen, Germany, or based on liquid lens technology, in which the shape of at least one lens is usually adjusted by changing an electric field in order to change the focus distance, or based on focus tunable lens technology, in which the shape of the lens and thus the focus distance is adjusted by a liquid flow and corresponding deformation of at least one lens. Instead of automatically adjusting the focus, in one embodiment of the invention the user can change the focus by actuating the motion control.

[0023] Overall, the method for operating a sensor or the coordinate measuring machine can, in a first embodiment, have at least two mechanical degrees of freedom of movement, the movement states of which can be adjusted independently of one another or coupled with one another. In a second embodiment, which can be implemented independently of the first embodiment or is a further refinement of the first embodiment, at least one optical degree of freedom is present, the state of which can be adjusted.

[0024] For example, in one embodiment of the method, a movement state of the sensor - depend on the states of at least one mechanical degree of freedom of movement of the sensor and on the setting of properties of an optical system of the sensor, and / or - depend on the states of at least two mechanical degrees of freedom of the sensor's movement.

[0025] A method is proposed for operating a human-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for detecting the coordinates of a measurement object. A motion controller is operable by a user to control the movement of the sensor relative to the measurement object. Furthermore, an arrangement comprising such a coordinate measuring machine is proposed.

[0026] The arrangement further includes a detection device designed to detect a user's desired movement to move the sensor relative to a measurement object. However, in specific configurations of the arrangement, this detection device and optionally at least one further device of the arrangement can also be part of the coordinate measuring machine. If all devices of the arrangement are part of the coordinate measuring machine, then the arrangement consists of the coordinate measuring machine. Optionally, the detection device can be part of the motion control system. However, it is an aspect of the invention that the user's desired movement is converted into a movement of the sensor in a modified form, at least in some operating situations of the coordinate measuring machine.A further aspect of the invention is that, at least in certain operating situations, the user receives a signal indicating how to express their movement request in such a way that implementing the movement request leads to a favorable movement of the sensor. As will be described in more detail below, these two aspects can optionally be combined.

[0027] When this description describes the detection of the movement request and subsequent measures based on it, this occurs continuously, i.e., repeatedly. The user then repeatedly or continuously expresses their movement request over time, generally modifying their action to express their movement request over time, for example, repeatedly modifying it. Further measures are then also repeatedly or continuously taken, such as, in particular, implementing the movement request unchanged, modifying the movement request, and / or issuing a signal to the user regarding the movement request.

[0028] When modifying the movement request, there are various options regarding the movement control and the detection device. The user will perceive the movement control as a means of directly controlling the movement of the sensor, whereby movement of the sensor in this description means a relative movement of the sensor and the measurement object, unless explicitly stated otherwise. As mentioned, there may also be operating situations in which the user's movement request is translated unchanged into a movement of the sensor. However, in other operating situations, or depending on the design, in all operating situations, the user's movement request to move the sensor is detected by the detection device.

[0029] One possible implementation is for the motion control, which the user activates, to generate control signals in all operating situations to control the movement of the sensor. These signals correspond to the desired movement. If the desired movement changes, the detection device detects the desired movement using these control signals. For example, several control signals can each correspond to a degree of freedom of movement (in particular, one that is independent of other degrees of freedom), and at least one of the control signals can be modified when the desired movement is modified. In this case, movement components with these degrees of freedom can be generated, in particular, by a motor assigned to each degree of freedom.However, it is also possible that the control signals or modified control signals present at the output of the motion control are subsequently converted into motor control signals, whereby, for example, a coordinate transformation into another coordinate system can take place.

[0030] However, it is also possible that the detection device is integrated into the motion control system and that the modification of the movement request therefore leads to control signals at the output of the motion control system that are modified compared to the case of direct control of the movement of the sensor by the user.

[0031] The invention is based on the realization that fully automatic control of the sensor movement is not required to set various desired and / or advantageous poses of the sensor in human-guided, motor-assisted coordinate measuring machines. Rather, the user's respective movement request can be taken into account, thus retaining a fundamental advantage of human-guided coordinate measuring machines: Preparing the measuring operation requires only minimal effort and can, for example, do not require the definition of trajectories to be followed. The user expresses their movement request, and the sensor is moved with motor support, taking the movement request into account. However, boundary conditions for the movement and / or at least one goal of the movement (e.g., a pose of the sensor) can be defined or present before and / or during the movement.

[0032] According to a first embodiment, the at least one boundary condition is used to modify the desired movement as necessary, i.e., in particular, to modify it if the unmodified desired movement would lead to a movement that is unfavorable with regard to the at least one boundary condition and / or if there is a movement that is more favorable with regard to the at least one boundary condition. The more favorable movement can then, for example, be executed. In particular, a movement that is unfavorable with regard to the boundary condition is a movement in which the boundary condition is not met or can no longer be met in the further course of the movement.

[0033] It is therefore proposed to modify the movement request, if necessary, according to additional information that is not included in the user's movement request.

[0034] According to a second embodiment, the boundary condition is used to output a signal to the user, indicating to the user that they should modify their movement request and / or express it during the further course of operation in such a way that the at least one boundary condition is met. In particular, the signal enables the user to express their movement request in such a way that a favorable movement of the sensor occurs according to additional information when the movement request is implemented.

[0035] The first embodiment and the second embodiment can also be combined. This means that both the signal is output to the user and the user's movement request is modified. Therefore, if, for example, the user does not express their movement request completely in accordance with the signal, a specific embodiment still executes a favorable movement of the sensor according to the boundary condition 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 or partially compensated.

[0036] In each configuration, the additional information corresponds to at least one boundary condition. Examples of boundary conditions and additional information will be discussed later.

[0037] In particular, the following is proposed: A method for operating a human-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for detecting coordinates of a measurement object and a motion controller that can be actuated by a user to control a movement of the sensor relative to the measurement object. The method comprises the following steps: • Detecting a movement request from the user by a detection device, in particular based on signals from the movement control due to the user actuating the movement control, • Retrieving additional information regarding at least one favorable movement of the sensor by a retrieval device, • Modifying the user’s movement request according to the additional information by a modification device so that a modified movement request is obtained, and • Controlling a movement of the sensor according to the modified movement request by a motor control of the coordinate measuring machine.

[0038] The first two steps can be performed in any order and at least partially simultaneously. In particular, as already mentioned, it is also possible to generate and / or retrieve the additional information only when the user has already expressed their movement request or is in the process of expressing it. It has also been mentioned that the steps can be performed continuously and thus repeatedly. In this case, the additional information can preferably be updated continuously. However, there are also cases in which the additional information remains constant over an operating period that includes a large number of repeated executions of the aforementioned steps. The aforementioned steps of the method are executed automatically.

[0039] Furthermore, the following is proposed: An arrangement with a person-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for detecting coordinates of a measuring object and the arrangement has a movement control which can be actuated by a user in order to control a movement of the sensor relative to a measuring object, and wherein the arrangement has: • a detection device designed to detect a user’s movement request, • a retrieval device designed to retrieve additional information relating to at least one favorable movement of the sensor, • a modification device designed to modify the user's movement request according to the additional information so that a modified movement request is obtained, and • a motor controller configured to control a movement of the sensor in accordance with the modified movement request.

[0040] The said devices can in particular be designed to carry out the method for operating a person-guided, motor-assisted coordinate measuring machine (CMM for short) in one of the described embodiments.

[0041] The term "motor control" is not limited to the direct control of the CMM drive. Optionally, it can also include a central control of the CMM and / or an external control system, provided that the respective control system processes signals that serve to control the drive (and thus at least one motor).

[0042] As already mentioned, one advantage of modifying the desired movement is the preservation of the functionality of a human-guided coordinate measuring machine, while at the same time taking into account boundary conditions that are difficult for the user to consider without aids.

[0043] Also proposed is a method for operating a human-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a sensor for detecting coordinates of a measuring object and a motion control that can be actuated by a user to control a movement of the sensor relative to the measuring object, and wherein the method comprises the following steps: • Detection of a user’s movement request by a detection device, • Retrieving additional information regarding at least one favorable movement of the sensor by a retrieval device, • Generating and outputting at least one signal perceivable by the user, wherein the signal signals the user to actuate the movement control in such a way that the sensor executes a favorable movement in accordance with the additional information.

[0044] Preferably, the method according to both embodiments also includes the step of measuring the measurement object.

[0045] Also proposed is an arrangement comprising a human-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine comprises a sensor for detecting coordinates of a measuring object and the arrangement comprises a motion control which can be actuated by a user in order to control a movement of the sensor relative to a measuring object, and wherein the arrangement comprises: • a detection device designed to detect a user’s movement request, • a retrieval device designed to retrieve additional information relating to at least one favorable movement of the sensor, and • a signaling device which is designed to generate and output at least one signal which can be perceived by the user, wherein the signal signals the user to actuate the movement control in such a way that the sensor carries out a movement which is favourable in accordance with the additional information.

[0046] The movement request can be defined, in particular, by at least one signal, for example, at least one signal corresponding to a change in the movement of the sensor, such as an acceleration. However, it can alternatively or additionally also be a signal corresponding to a direction of the movement. Examples will be discussed in more detail below.

[0047] The two steps of detecting the movement request and retrieving additional information can be performed in any order, and at least partially simultaneously, analogously to the embodiment with the step of modifying the movement request. Otherwise, the same applies as mentioned above with regard to the generation and / or retrieval of the additional information and the continuous, repeated execution of the steps. The aforementioned steps of the method with the step of outputting a signal perceivable by the user are also performed automatically.

[0048] Retrieving additional information means accessing the additional information. For this to happen, the additional information must be present. It is possible that the additional information is accessed by an associated retrieval device, in particular a computer, and that the additional information is transferred to a processing device of the coordinate measuring machine or the arrangement with the coordinate measuring machine in order to generate the signals perceivable by the user and / or to modify the movement request according to the additional information. Therefore, although the retrieval of the additional information can be carried out directly by the processing device, a separate retrieval device may also be present.

[0049] Depending on the design, the movement control comprises different means and / or objects. The means or object enables the user to actuate the sensor. If the user exerts forces and / or torques on the sensor itself or on an object that is particularly firmly connected to the sensor, the sensor itself or the object connected to it is the actuating means. For example, in gesture control, i.e. if the user performs gestures, for example with their hands, to control the movement of the sensor, the actuating means is the recognition and evaluation device, which is designed to recognize the gestures and evaluate them such that the action corresponding to the gesture, in particular the corresponding movement, is controlled.

[0050] The coordinate measuring machine can support the user in controlling the sensor's movement by generating and outputting a signal in various ways. This may also depend on the design of the coordinate measuring machine and, in particular, the design of the human-guided control of the sensor's movement.

[0051] On the one hand, the motor system of the coordinate measuring machine can provide support, for example, by applying a force and / or resistance to an inappropriate movement of the sensor. In particular, the motor system can therefore, for example, inhibit or block a movement or a movement component (e.g., a movement component related to a specific degree of freedom of movement) of the sensor. Alternatively, the inhibition or blocking can be achieved in another way, for example, by a device control of the coordinate measuring machine, which in turn can control the respective motor control. The device control can, for example, use measured values ​​from the position measuring system of the coordinate measuring machine and / or data about the shape of the measuring object.Although the phrase “inhibition or blocking of a movement” has been used, this includes in particular the case where all movements are inhibited or blocked which cause the sensor to perform a movement other than a favorable one.

[0052] The applied force and / or resistance can be communicated to the user through signals that the user can perceive. Such signals will be discussed in more detail below. However, it should be noted here that the signals can also be generated even if they are not the result of a motor action.

[0053] These statements also apply analogously to another way in which the coordinate measuring machine can provide support. This additional option can be implemented as an alternative to the option of providing support through motor skills or in addition to this option of supporting motor skills. This additional option involves generating and outputting signals (other than those generated by motor skills) to the user. The user can then, based on the signals, activate the motion control device they can operate in such a way that the sensor is moved in accordance with the support. These signals can be, for example, optical and / or acoustic signals.

[0054] Overall, the aforementioned signals that are generated and output so that the user can perceive them can be of different types. For example, a force generator can be provided that is designed to exert a force on an actuating means (such as a joystick) of the motion control or (with a correspondingly different design) on the sensor or the object connected to it. In particular, if the sensor or the object connected to it is the actuating means, the motor system of the coordinate measuring machine can therefore function as the force generator.

[0055] The force can, for example, generate resistance against a force exerted by the user on the actuating means or the sensor, i.e. the two forces can oppose each other. The resistance force can, for example, only be generated if the user exerts a force on the actuating means which a device control of the coordinate measuring machine considers unsuitable in view of the current operating situation. The force is unsuitable, for example, if the movement request corresponding to the force does not lead to a favorable movement of the sensor according to the additional information. The force generator can, for example, also be a brake or have a brake that slows down a movement of the actuating means caused by the user.In many cases, based on the current state of movement of the sensor, there is at least one suitable direction of movement of the actuating means that leads to a favorable movement of the sensor. In these cases, there are usually several unsuitable directions of movement of the actuating means at the same time, which lead to an unfavorable movement of the sensor. The force generator is therefore preferably controlled by the device control of the coordinate measuring machine in such a way that it only generates a resistance force when the actuating means is moved in one of the unsuitable directions of movement. In particular, the said resistance force is an increased resistance force if the actuating means must always be actuated against a resistance force, as is preferably the case. In one variant of the use of the said force generator orWhen the resistance force is applied, the resistance force is so great as a signal to the user that the user perceives any movement opposite to the direction of the resistance force as blocked. In this case, the user can optionally overcome this high resistance force by applying an even higher user force and thereby specify that the generation of the resistance force or the increased resistance force is to be stopped. In this way, the user signals, for example, that the previously valid additional information should no longer be observed. An operating phase can then take place, for example, in which no modification of the movement request based on additional information and no signal perceptible by the user takes place corresponding to additional information. Alternatively, an operating phase can begin in which other additional information than the previously valid one is used.

[0056] Alternatively or in addition to a resistance force or counterforce exerted on an actuating means, the actuating means can be acted upon in another way to make the respective signal perceptible to the user, or the signal can be made directly perceptible to the user. One possibility is to generate a mechanical oscillation of the actuating means by means of at least one vibrator if the user actuates the actuating means inappropriately in the sense described above. Alternatively or in addition to the mechanical oscillation, an electrical voltage can be applied to the actuating means, which the user can perceive.

[0057] The at least one vibrator and / or a voltage generator for generating an electrical voltage can also be applied to another object used by the user (e.g., a piece of clothing such as a glove) and / or directly to a part of the user's body. The electrical voltage can, in particular, comprise at least one voltage pulse, ie, each pulse can act only briefly.

[0058] Another possibility is to output a visual and / or acoustic signal to the user. In the case of a visual signal, the signal can be presented to the user on a display, for example as a bar graph and / or using colors. For example, the more inappropriate or (in another case) more appropriate a movement of the sensor activated by the user and thereby intended is, the longer the displayed bar becomes. Acoustically perceptible signals can, in particular, use different audible frequencies to indicate to the user whether an actuation is appropriate or inappropriate, or to gradually indicate to what extent an actuation is appropriate or inappropriate. Acoustically perceptible signals can also be displayed in the manner of a surround system, as is known from virtual reality.For example, a sound pattern that appears to be coming from the user's forward direction and / or line of sight may signal a suitable operation, whereas other apparent directions of origin of the sound pattern may signal a deviation from a suitable operation. The user can then modify the movement control operation so that the sound pattern appears to be coming from the forward direction again.

[0059] Furthermore, the user's actuation of the motion control can be performed without a physical actuation device, particularly in all cases where the signal is not output to the user via the actuation device. One example is the gestures mentioned above, through which the user performs the actuation.

[0060] Assisting the user with any kind of signal also has the advantage that the user can control the sensor's movement contrary to or in a modification of the assistance signaled by the signals. The user can therefore intentionally deviate from the procedure recommended by the signals to achieve a favorable movement. More generally, the user can ignore the signals entirely or partially and, for example, abort the procedure for controlling the favorable movement of the sensor.

[0061] In the following, embodiments of the design are described in which the user's movement request is modified according to the additional information.

[0062] The step of modifying the movement request or an operation of the modification device can modify - a desired direction of movement of the sensor according to the desired movement in a modified direction of movement of the sensor according to the additional information and / or - a desired rotational movement of the sensor corresponding to the desired movement into a modified rotational movement of the sensor according to the additional information. For example, the orientation of the axis of rotation can be modified. According to a further embodiment, the coordinate measuring machine can allow a motor-assisted movement of the sensor with at least two degrees of freedom of movement, wherein the method or the modification device is designed to modify the desired movement with respect to at least a first degree of freedom of movement and to maintain the desired movement with respect to at least a second degree of freedom of movement. Optionally, these degrees of freedom of movement, which are in particular independent of one another, can be related to a coordinate system that is a coordinate system transformed from the coordinate system of the coordinate measuring machine.After modifying the desired movement, a back transformation into the coordinate system of the coordinate measuring machine can take place. In particular, the transformed coordinate system can be defined taking the additional information into account. For example, the additional information specifies that the sensor movement should take place within an inclined plane. The transformed coordinate system can then be a Cartesian coordinate system in which two of the three coordinate axes span the inclined plane. After transformation into this coordinate system, the desired movement can be easily modified such that the component of the movement vector that is perpendicular to the inclined plane is set to zero. The modified movement vector is obtained by back transformation into the coordinate system of the coordinate measuring machine.

[0063] According to one embodiment of the method, this also comprises generating the additional information, with at least one of the following steps, and / or according to one embodiment of the arrangement, this comprises a generating device which is designed to generate the additional information and in doing so to take at least one of the following measures: - Specification of a desired deflection or a desired range of deflections of the sensor designed as a tactile probe; in one case the amount of deflection can be specified, and in another case the amount and direction of the deflection. It is also possible to specify only the direction of the deflection. Particularly when measuring tactile sensors, it can be useful to keep the amount of sensor deflection at a constant value while probing a calibration standard, such as a reference sphere. When the sensor is in probing mode, the user should still be able to move the probe around the workpiece or the reference sphere by activating the motion control. In this case, the additional information can include that the probe deflection is always perpendicular to the surface of the reference sphere. This includes information about where the surface of the reference sphere is located in the CMM's coordinate system.This additional information can optionally be expanded to include the information that the amount of deflection must not exceed a limit value and / or that the amount of deflection is constant. The additional information can allow the amount of deflection of the probe to be reduced below the constant value due to the user's desired movement, and this signals that the additional information should then no longer be taken into account, i.e. that user support based on the additional information should be terminated. The favorable movement of the probe along the surface of the calibration sphere can be obtained in a simple manner: The coordinate system of the coordinate measuring machine is transformed into a Cartesian coordinate system in which the tangential plane at the current point of contact between the probe and the surface of the calibration sphere is spanned by two of the three coordinate axes.The movement component perpendicular to this tangential plane is set to zero if present. - Determination of a desired state of the sensor configured as a tactile switch; this represents a generalization of the previous case of defining additional information. In addition to the deflection of a tactile switch, the contact force also occurs as a state variable, particularly in active sensors with a force generator. Therefore, for example, the magnitude of the contact force can be changed according to the additional information. In many cases, however, it is advantageous if the magnitude of the contact force remains constant. - Specifying a desired orientation or a desired range of orientations for the sensor; this applies not only to tactile sensors but to any type of sensor. Especially for optical sensors, orientation is an important parameter for detecting the respective measurement object. - Specification that a sensor signal generated by the sensor has a predefined property; This represents a generalization of the above-mentioned first specification, in which a desired deflection is specified. One embodiment therefore relates to tactile sensors, in particular on passive measuring heads without a force generator. Another embodiment relates to confocal sensors which identify from a spectrum of measuring radiation the wavelength at which the irradiated measuring radiation is sharply imaged, i.e. in focus, onto the surface of the measuring object. The additional information can therefore contain that the measuring signal has its intensity maximum in a predefined wavelength range. This makes it possible for the sensor to always be distanced from the surface of the measuring object in accordance with its measuring range. The predefined wavelength range can be smaller than the wavelength range of the measuring radiation. - Specification that the sensor designed as an optical sensor detects a predefined feature of a measurement object; the feature can be any edge of the measurement object, for example. The additional information can further specify that the edge is sharply imaged in a camera image from the optical sensor designed as a camera. In particular, this can result in the distance to the predefined feature of the measurement object remaining unchanged when the optical sensor moves along the surface of the measurement object, so that it continues to be imaged sharply, for example. In contrast, the orientation of the optical sensor relative to the surface can vary. In particular, this enables the measurement object to be detected in different poses of the optical sensor relative to the measurement object. For example, a two-dimensional camera image can be recorded by the sensor. By evaluating the image data, a specific feature can be detected.Starting from the current pose, and taking the additional information into account, the only movement that can be favorable for the sensor is one in which the feature can still be clearly recognized in the respective camera image. This controls the alignment of the optical sensor in particular. The detected surface area of ​​the measurement object does not have to be constant. Rather, it is also possible to detect partially overlapping surface areas in pairs using a series of camera images, so that what is known as image stitching is possible. According to another exemplary embodiment, a sharpness value for at least part of the camera image is repeatedly calculated by evaluating the camera image. The additional information can now contain the condition that after movement of the sensor, i.e. after reaching at least one other pose, the sharpness value must not have deteriorated orIn another case, the focus range must not exceed a specified permissible range. The focus range can therefore be defined by a minimum sharpness value. - Specifying that the sensor configured as an optical sensor generates a sensor signal having at least one desired predetermined property; in particular, the sensor signal may have the above-mentioned property that, in the case of a confocal sensor, the intensity maximum of the measurement signal lies in a predetermined wavelength range and / or at least reaches a predetermined intensity value. - Specifying a desired sensor position or a desired spatial area with sensor positions; this specification thus concerns a target position for the sensor movement. In combination with the above-mentioned specification of a desired orientation, sensor poses can also be specified as the target of the movement or even permissible sensor poses. For example, given a specified desired target position, the difference vector from the current sensor position to the target position can be determined, and its direction can be defined as the favorable direction of movement. - Definition of a desired movement path for the sensor; the movement can be defined, for example, by a direction of movement. Therefore, a predefined movement axis can be defined that continuously applies to the movement of the sensor. Alternatively or additionally, a direction of movement can be provided for each movement that does not occur along the movement axis, or a constant direction of movement can be defined for the continued movement of the sensor. Another case is a movement path that is defined for the continued movement of the sensor, but which is not rectilinear. In general, any desired movement paths can therefore be defined for the sensor.If the transformation of the coordinate system described above is used to determine the favorable movement and / or the modification of the desired movement, then, for example, the direction of the favorable movement that corresponds to the desired trajectory can be determined for the current movement state of the sensor. In particular, it is also possible to define the trajectory in relation to objects, such as a measurement object. For example, a movement can be defined as a helical trajectory around a spherical measurement object. Also, the trajectory defined in relation to an object does not have to lie on the surface of the object, but can, for example, lie at a defined distance from the object. Other examples are a predefined line within a plane or a circle on a spherical surface. - Determination of a desired direction of movement of the sensor; In particular, analogous to the above-described determination of a direction of movement from the current sensor position to a desired target position, a direction of movement can be defined, although this does not necessarily have to be related to a desired target position. Therefore, for example, a favorable direction of movement can be defined during an operating period, regardless of the current position of the sensor. If, for example, the direction of movement corresponding to the user's desired movement is then determined from the user's desired movement, this direction can be completely changed to the favorable direction of movement in order to maintain the modified desired movement or to output the signal to the user.Since the same direction of movement still leaves open the speed and acceleration at which the sensor moves, as well as the orientation of the sensor in the direction of movement, at least one of these variables can also be determined by the additional information. Alternatively, the orientation of the movement (in the direction of movement or in the opposite direction, or with positive or negative speed) can be determined from the user's movement request. The speed and / or acceleration of the sensor can also be determined from the user's movement request. - Definition of a spatial surface consisting of desired sensor positions; this represents a generalization of the previously described definition of a desired trajectory. This also represents a generalization for the definition of a desired sensor position. In contrast to the trajectory, the trajectory is not precisely defined, but the position of the sensor must be located on the spatial surface. In a special case, the spatial surface could, for example, be the inclined plane mentioned above. However, it does not have to be a plane; it can be a so-called freeform surface.

[0064] The possibilities for specifying additional information are virtually unlimited. The options presented above are merely examples.

[0065] Embodiments of the invention will now be described with reference to the accompanying drawings. The individual figures of the drawing show: Fig. 1 a part of a mechanism of a coordinate measuring machine with an optical sensor coupled to the mechanism, which is aligned to an area of ​​a workpiece to be detected, Fig. 2 a schematic block diagram of a coordinate measuring machine with a sensor, e.g. the coordinate measuring machine to which the Fig. 1 mechanism shown belongs, Fig. 3 a representation with different poses of a sensor relative to a measuring object, Fig. 4 - 9 different coordinate systems to represent a procedure with transformation of a movement request, modification of the movement request and back transformation of the modified movement request.

[0066] Fig. 1 shows a mechanism 12 of an otherwise not further Fig. 1. In this specific embodiment, the mechanism 12 is designed as an articulated arm. However, the invention is not limited to this type of mechanism. The mechanism 12 has arms 16, which are movably coupled to one another via joints 14. A sensor 1 is arranged at a free end of one of the arms 16. The sensor can be, for example, an optical or a tactile sensor. Specifically shown is an optical sensor, for example, an imaging sensor such as a camera. An axis of the sensor 1, which is indicated by an arrow in Fig. 1, corresponds to a main viewing direction of the sensor 1 and is directed towards an area 7 to be detected on a surface of a workpiece 5. The workpiece 5 is an example of a measurement object. Furthermore, a handle 3 is permanently attached to the optical sensor 1 as an actuating means. A user can grip the handle 3 and control a movement of the sensor 1 by exerting forces on the handle 3 and thus also on the sensor 1. Since this is a motor-assisted coordinate measuring machine and therefore, particularly with regard to this example of a mechanism 12, rotational movements about the axes of rotation of the joints 14 are motor-driven, the movement exerted by the user via the handle 3 is motor-assisted.

[0067] In particular, the motor system can also perform a weight compensation so that the weight of the sensor 1 and the components of the mechanism 12 does not lead to an unintended movement. If, for example, the user does not exert any force on the handle, the weight compensation causes the sensor 1 to maintain its position and orientation. If, on the other hand, the user exerts a force on the handle 3, the motor system supports the user (possibly with the exception of certain operating states) in ensuring that the sensor 1 executes the desired movement. In particular, the motor system and / or a Fig. 1 A position measuring system (not shown) of the coordinate measuring machine can detect the movement of the optical sensor 1 initially caused by the applied force and use a motor to generate a movement in the same direction as the applied force. The magnitude of the force and / or the duration of the force application can be a measure of the speed or acceleration with which the optical sensor 1 is to be moved. The motor then carries out the movement at this speed or acceleration. Such person-guided movements of objects are already known, e.g. in lifting devices, and with regard to fewer degrees of freedom of movement also in coordinate measuring machines. One example is the coordinate measuring machine called ScanMax offered by Carl Zeiss Industrielle Messtechnik GmbH, Oberkochen, Germany.However, the method and the 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 movement.

[0068] The schematic block diagram in Fig. Figure 2 shows a coordinate measuring machine 10 having a sensor 1. The same reference numerals in different figures denote the same or corresponding devices and objects. Therefore, the sensor 1 in Fig. 2 for example to switch sensor 1 from Fig. 1. The sensor 1 in Fig. 2 is movable via a mechanism 12, and the mechanism 12 is driven by a drive 27, which has at least one motor and typically has a plurality of motors. A drive controller 29 controls the drive according to specifications that the drive controller 29 receives from a device controller 23 of the coordinate measuring machine 10.

[0069] Arrows indicate Fig. 2 depicts a respective control effect, signal transmission, or information acquisition. For example, sensor 1 detects a workpiece 5, as indicated by an arrow. Drive controller 29 controls drive 27. Optionally (not shown), drive 27 can transmit signals from a tachogenerator, for example, to drive controller 29, so that drive controller 29 can regulate the motion state of drive 27 according to specifications.

[0070] A position measuring system 25 of the coordinate measuring machine 10 measures the positions and / or orientations of the mechanism 12 and thus of the optical sensor 1 arranged on the mechanism 12. The position measuring system 25 transmits the results of the position determination to the device controller 23. Furthermore, a motion controller 21 is provided, which enables a user to control a movement of the optical sensor 1 via an actuating means 22. Control signals generated in this way are transmitted from the motion controller 21 to the device controller 23. Conversely, the device controller 23 is capable, particularly in certain operating states, of generating signals that are perceptible to the user after being output to the user. In particular, in the exemplary embodiment specifically illustrated here, the signals generated by the device controller 23 are output via the motion controller 21 and the actuating means 22. Other possibilities, such asAn acoustic or visual representation has already been mentioned. Furthermore, the actuating means 22 can be the optical sensor 1 or an object that is, in particular, firmly connected to the sensor 1, as shown in FIG. Fig. 1 is shown.

[0071] Fig. 3 shows an optical sensor 1 in two different positions and orientations. Further to the right in Fig. 3, the optical sensor 1 is shown looking downwards to the left (as indicated by a long arrow) at a surface of a measuring object. This direction of view does not coincide with the direction of the surface normal of the surface 31. The surface normal is defined by a Fig. 3 is represented by an arrow pointing vertically upwards. However, after the sensor 1 has been moved into a different orientation relative to the surface 31 of the measurement object, as indicated by a curved arrow, the viewing direction of the optical sensor 1 and the surface normal coincide. However, the surface normal is usually represented by a directional vector pointing away from the surface, so that the viewing direction and the surface normal vector are directed opposite to each other.

[0072] In the Fig. In the embodiment shown in Figure 3, for example, the user has moved the sensor 1 into the position shown further to the right by actuating the movement control, specifically in accordance with the dashed representation of the sensor 1 with the orientation of the sensor 1 vertically downwards. The movement request expressed by actuating the movement control was not modified, and no signal was sent to the user to prompt him to actuate the movement control as desired. After reaching the position shown further to the right in Fig. 3, however, the user support begins to move further to the left in Fig. 3 to achieve the target pose of the sensor 1. For example, the user switches on the assistance by operating a corresponding control device.

[0073] The target pose is defined in the additional information required for support. Based on the example of the Fig. 2, any additional information is made available to the device control 23, for example, by a Fig. 2 shows a data transmission connection to a data storage device (also not shown). The data storage device does not have to be located at the location of the coordinate measuring machine, although this is also a possibility. In particular, it can be a distributed data storage device, such as in the case of a data cloud via the Internet. The data storage device can also be located at least partially at a remote location, for example, and the additional information can be transmitted via a data transmission network, such as the Internet.

[0074] If the user now presses, based on the embodiment of the Fig. 2, the actuating means 22 and thus the movement control 21 to bring the sensor 1 into the target pose, then either according to the first embodiment its movement request is modified (if necessary) so that the sensor 1 moves in the direction of the position of the target pose, or according to the second embodiment a signal perceptible to the user is output which signals the user to actuate the movement control 21 such that the sensor 1 moves in the direction of the position of the target pose.

[0075] Since the target pose also determines the orientation of sensor 1, the user is preferably also supported in adjusting the orientation. There are various options for this, depending on the type of support. For example, the orientation of sensor 1 can be determined by a feature of the object to be measured. In other words, the orientation of sensor 1 is to be adjusted so that the feature of the object to be measured is detected. For example, the feature can be a specific edge or hole in a workpiece. The device controller, for example, device controller 23 from Fig. 2, can therefore be designed such that it determines from the sensor signals of sensor 1 whether the feature is detected. If this is not the case, or if the measurement signals over time, i.e., the measurement signals repeatedly evaluated by the device control, extrapolate to show that the feature will no longer be detected in the future, then the device control, depending on the design of the user support as described above, generates a signal and / or modifies the user's movement request so that the feature is detected or remains detected during the repeated detection of the measurement object.

[0076] Another option for setting the optimal orientation is to specify the orientation relative to a coordinate system, such as the coordinate system of the coordinate measuring machine. This also allows the device control system, depending on the user support configuration, to generate a signal and / or modify the user's desired movement so that the feature is captured or remains captured during repeated capture of the measuring object.

[0077] To return to the example of the Fig. 3, the described support of the user will move the sensor 1 to the position further to the top left in Fig. 3, which is the target pose. Depending on the design of the support, the sensor 1 can be moved from the dashed position shown in Fig. 3 into the non-dashed pose at the top right in Fig. 3 and then according to a rotational degree of freedom of movement into the top left in Fig. 3. Alternatively, the sensor 1 can be moved from the dashed pose by linear movement according to a linear degree of freedom into the position shown in the top left corner. Fig. 3. When reference is made here to a rotational or linear degree of freedom of movement, this degree of freedom does not necessarily have to correspond to one of the degrees of freedom of movement given for a particular motor. In particular, to realize the movement, as described above, a transformation of the target pose and the desired movement into a coordinate system can be carried out in which the respective degree of freedom of movement (the aforementioned rotational degree of freedom or the aforementioned linear degree of freedom) is present as a degree of freedom independent of other degrees of freedom. For example, in this sense, in a Cartesian coordinate system, there are three linear degrees of freedom of movement, corresponding to the three coordinate axes.As already mentioned, such a transformation has the advantage that components of the desired movement can be set to zero, at least with respect to at least one of the degrees of freedom of the movement. Subsequently, as with other embodiments already partially described, a reverse transformation of the modified desired movement or the favorable movement can take place into a coordinate system, which serves the motion controller to execute the movement control or generate the signal perceivable by the user.

[0078] Based on the Fig. 4-9, an embodiment of the method according to the invention will now be described. Specifically, the description of the embodiment relates to the modification of a user's desired movement. However, the vector resulting from the method can alternatively or additionally also serve as the basis for generating and outputting a signal to the user indicating how they can activate the movement control to control a favorable movement according to additional information.

[0079] Fig. 4 shows in a first coordinate system an inclined plane, which in the Fig. 4 is represented by parallelogram-shaped outlines. However, the outlines do not represent the edge of the surface or plane, but merely serve to indicate the orientation of the inclined plane. Furthermore, in Fig. 4 shows the end of a stylus 41 with a stylus 43 as an example of a sensor. The first coordinate system is a Cartesian coordinate system. The three coordinate axes are also shown in the lower area of ​​the Fig. 4 is indicated by three arrows. The inclined plane is inclined in the first coordinate system because it is not spanned by two of the three coordinate axes. In other words, it is not perpendicular to any of the three coordinate axes.

[0080] Fig. 5 shows the first coordinate system and the inclined plane without the stylus 41 from Fig. 4. In addition, the selected representation shows an arrow within the parallelogram-shaped outline, symbolizing a vector. The direction of the vector corresponds to a movement request from the user, which the user has generated by activating a motion control. Accordingly, the sensor (here, for example, the stylus 41) should move in the direction of the vector. Optionally, the length of the vector also corresponds to the magnitude of the speed or acceleration of a movement of the sensor according to the user's movement request. Generally, the vector does not run within the inclined plane. This is also not the case in the specifically selected embodiment. Rather, the vector is directed into the space to the right below the inclined plane.

[0081] Fig. 6 shows a second, also Cartesian coordinate system, in which the inclined plane consists of Fig. 4 and Fig. 5 runs horizontally or, more generally, is spanned by two of the coordinate axes of the second coordinate system. The second coordinate system is a transformed coordinate system. By means of an appropriate transformation, the first coordinate system with all objects defined therein (here the inclined plane and the mentioned vector) can be transformed into the second coordinate system. The transformation is chosen such that the plane inclined in the first coordinate system is no longer inclined. Starting from the first coordinate system, there is the option for at least two further transformations into other, transformed coordinate systems in which the plane inclined in the first coordinate system is also not inclined. However, for the embodiment described here, it is sufficient if any of the possible transformations is carried out. Below the plane, in Fig. 6 by three arrows similar to Fig. 4 and Fig. 5 shows the coordinate axes of a coordinate system. These are the coordinate axes that represent the first, untransformed coordinate system. This allows the relative pose of the first and second coordinate systems to be identified.

[0082] By transforming the inclined plane into the second coordinate system, the vector is also transformed. However, the relative pose of the vector with respect to the now no longer inclined plane is the same as in Fig. 4 and Fig. 5. In the illustration of the Fig. 6 the vector is directed into the space below the plane, defining, as before, an axis that has an intersection with the plane.

[0083] Fig. 7 shows the second coordinate system, the plane and the vector as in Fig. 6. However, a second, projected vector is also shown, namely in the representation of the Fig. 7 above the original, first vector. This projected vector runs within the plane and is obtained by projecting the first vector onto the plane. In this embodiment, the starting point of the first vector lies within the plane. However, the starting point of the first vector can also lie outside the plane, and the first vector itself does not need to have an intersection with the plane. In all these cases, however, the projection of the first vector onto the plane and thus the generation of the projected vector is possible.

[0084] Fig. 8 shows again in the first coordinate system of the Fig. 4 and the Fig. 5 the inversely transformed plane, now again as an inclined plane, with the also inversely transformed, projected vector. Fig. 9 also shows the second coordinate system, but with a different scale and thus in a different spatial area than in Fig. 8, the inclined plane, the projected vector, and the end of the stylus 41. The projected vector is applied to the stylus 41's stylus to indicate that the modified movement request concerns the stylus 43 and, in particular, its center point. In particular, if the first coordinate system is a coordinate system of the coordinate measuring machine, the inversely transformed, projected vector defines at least the direction of movement of the user's modified movement request and, optionally, also the speed or acceleration of the modified movement request according to the length of the projected vector.

[0085] Since, according to the procedure described above, each first vector corresponding to a user's movement request can be projected into the inclined plane (or another inclined plane), a modified movement request is always obtainable. However, there are some deviations from the concrete one based on the Fig. 4-9, two special cases exist: Firstly, the first vector can run perpendicular to the inclined plane, i.e., the user wishes to move the sensor in a direction perpendicular to the plane. In this case, the modified movement request results in the form of a vector of length zero, corresponding to a standstill of the sensor or (for example, if the movement request concerns an acceleration of the sensor) corresponding to no change in the movement of the sensor. The second special case is the case where the first vector already runs within the inclined plane. In this case, the projection does not change the first vector, and it is equal to the projected vector. This corresponds to the case where the user's movement request is not modified. Furthermore, the plane may also already be non-inclined in the first coordinate system, i.e.,In the case of a Cartesian coordinate system, it is spanned by two of the coordinate axes. In this case, the steps of transforming the coordinate system and the reverse transformation can be omitted, and the vector corresponding to the user's desired movement can be projected onto the non-inclined plane without transformation to obtain the modified desired movement.

[0086] From the Fig. From the exemplary embodiment described in Figures 4 to 9, it becomes clear that the inclined plane can be a special case of additional information. Therefore, if the additional information is defined such that a movement of the sensor or an acceleration of the sensor should occur exclusively within the inclined plane or parallel to the inclined plane, then the modified movement request can be determined in the manner described. However, the transformation of the first coordinate system into the second coordinate system performed in this process and the subsequent reverse transformation can also be performed in cases where other additional information is present in order to determine the modified movement request.An example was already discussed above before the description of the figures, namely the case in which a tactile probe with a fixed amount of its deflection from a rest position is to probe a plurality of surface points on a calibration sphere, each with a deflection direction that is perpendicular to the tangential plane of the probed surface point.

[0087] For example, instead of an inclined plane, a straight or rectilinear axis oriented anywhere in space can be specified as additional information to specify a direction of movement or acceleration. In this case, the first vector corresponding to the user's desired movement can be shifted such that it begins at or intersects the axis. Analogous to the two special cases defined above for the inclined plane, there are special cases where the shifted vector or the non-shifted vector intersects the axis perpendicularly, and where the shifted vector or the non-shifted vector runs on the axis.

[0088] The first vector can then be projected onto the axis, thus obtaining the second vector, which corresponds to the modified movement request.

[0089] It should also be noted that the inclined plane can be defined as additional information for only a single point in time and therefore only serves to determine the modified movement request for the movement request that is valid at that single point in time. This makes it possible, in particular, to determine a suitable inclined plane for different points in time, in accordance with the overall defined additional information. This represents, for example, a generalization of the procedure described above for calibrating a tactile probe using a calibration sphere with each deflection perpendicular to the tangential plane to the contacted surface point. The rectilinear axis can also be valid as additional information for only a single point in time and, for example, be aligned differently in space for each subsequent point in time.This allows, for example, the movement directions valid at different times for a trajectory defined according to the additional information, to be determined along the specified trajectory, thus determining the modified desired movement. The axis directions are then determined depending on the progress of the movement along the specified trajectory. If the sensor is located at a specific point on or along the trajectory, the tangent to the trajectory is determined at that specific point and forms the specified axis in space.

[0090] A similar approach can be taken with regard to the rotational degrees of freedom of the sensor's movement. For example, if the movement request requires rotation around a first axis of rotation corresponding to the movement request at a specific time, but the additional information requires rotation around a different axis of rotation, then a vector pointing in the direction of the first axis of rotation and thus representing the desired rotation can be projected onto the other axis of rotation. The direction of the vector can optionally represent the orientation of the rotational movement. Furthermore, the length of the vector can optionally represent the rotational speed or acceleration. A transformation before the projection and a subsequent back transformation of a coordinate system can also optionally be performed if this is desired to simplify the calculation method.

[0091] In general, all mentioned and corresponding projections of the first vector, which corresponds to the user's desired movement, 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: From the desired movement expressed by the user, a vector is determined that represents the desired movement at a given point in time. Furthermore, a plane or linear axis valid for the given point in time of the desired movement is defined based on the specified additional information.The vector is projected onto the plane or the axis and a projected vector is obtained which corresponds to the modified movement request or which defines the favorable movement according to the additional information, according to which a signal is generated and output to the user in order to make it perceptible to the user how to operate the movement control so that the sensor executes the favorable movement.

[0092] Based on the Fig. 4-9 and thereafter, embodiments of the method were described. The arrangement described in this description can be designed accordingly. For example, the previously mentioned modifying device of the arrangement can be designed accordingly, or the previously mentioned signaling device can be designed accordingly. In particular, the device control, for example, the device control based on Fig.2, the device control 23 may be the signalling device or a part of the signalling device, for example the part which, taking into account the additional information and the movement request, determines the favourable movement which the user is to be prompted to control.

[0093] At this point, it should also be mentioned how the devices of the arrangement can be implemented. The acquisition device, like the retrieval device, the modification device, and / or the signaling device, can, for example, be part of the device control of the coordinate measuring machine and / or be implemented by a device external to the coordinate measuring machine. The acquisition device, like the retrieval device, the modification device, and the signaling device, can each be implemented by a computer program that is executed on a computer or an arrangement of computers. The type of computer is not limited here. In particular, an arrangement of computers can also be a geographically distributed arrangement, for example computers that are connected to one another via a communications network such as the Internet and / or a company intranet.

[0094] Therefore, the scope of the invention includes a device for data processing, which has means for carrying out the method, in particular the method in one of the described embodiments. The device can, for example, consist of a single computer or a computer network or can comprise the computer or the computer network. The computer or at least one of the computers can, in terms of its mode of operation, be an analog computer, a digital computer and / or a hybrid computer. With regard to its size and design, it can be a smartphone, a personal digital assistant (PDA), a tablet computer, an embedded system (e.g.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 computer or server integrated into a computer network, a thin client computer, a netbook, a notebook, a laptop, a mainframe computer or a supercomputer, whereby some of the aforementioned types can also be implemented by a single computer, such as a PC with multiple boards. Furthermore, the computer or at least one of the computers can have one or more central processing units (CPUs) and / or one or more processing cores per CPU. Graphics cards or other dedicated cards with processing units that are part of a computer can also represent the means for carrying out the method, exclusively or in combination with other computers or processing units. List of reference symbols: 1 optical sensor 3 Handle 5 Workpiece (measurement object) 7 area to be recorded 10 coordinate measuring machines 12 Mechanics 14 joint 16 arms 21 Motion control 22 Actuating devices 23 Device control 25 Position measuring system 27 Drive 29 Drive control 31 Surface of the measuring object 41 Stylus 43 Touch ball

Claims

[1] Method for operating a person-guided, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a sensor (1) for detecting coordinates of a measurement object (5) and a motion 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 wherein the method comprises the following steps: a) detecting a user’s movement request by a detection device, b) retrieving additional information relating to at least one favorable movement of the sensor (1) by a retrieval device, and c) generating and outputting at least one signal perceivable by the user, wherein the signal signals the user to actuate the movement control (21) in such a way that the sensor (1) executes a movement favorable according to the additional information. [2] Method for operating a person-guided, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a sensor (1) for detecting coordinates of a measuring object (5) and a motion control (21) which can be actuated by a user in order to control a movement of the sensor (1) relative to the measuring object (5), and wherein the method comprises the following steps: a) detecting a user’s movement request by a detection device, b) retrieving additional information relating to at least one favorable movement of the sensor (1) by a retrieval device, d) modifying the user’s movement request according to the additional information by a modification device so that a modified movement request is obtained, and e) controlling a movement of the sensor according to the modified movement request by a motor control of the coordinate measuring machine (10). [3] The method of claim 2, wherein the step of modifying the movement request comprises modifying - a desired direction of movement of the sensor according to the desired movement in a modified direction of movement of the sensor according to the additional information and / or - a desired rotational movement of the sensor according to the desired movement into a modified rotational movement of the sensor according to the additional information. [4] Method according to claim 2 or 3, wherein the coordinate measuring machine allows a movement of the sensor with motor support with at least two degrees of freedom of movement and wherein the step of modifying the movement request comprises modifying the movement request with respect to at least a first degree of freedom of movement and maintaining the movement request with respect to at least a second degree of freedom of movement. [5] Method according to one of claims 1 to 4, wherein the method further comprises generating the additional information, with at least one of the following steps: - Determination of a desired deflection or a desired range of deflections of the sensor designed as a tactile button, - Determination of a desired state of the sensor designed as a tactile button, - Specifying a desired orientation or range of orientations of the sensor, - Specifying that a sensor signal generated by the sensor has a predefined property, - Specification that the sensor designed as an optical sensor detects a predefined feature of a measuring object, - stipulation that the sensor configured as an optical sensor generates a sensor signal with at least one desired predetermined property, - Determination of a desired position of the sensor or a desired spatial area with positions of the sensor, - Determination of a desired movement path of the sensor, - Determination of a desired direction of movement of the sensor and / or - Definition of an area in the room that consists of desired positions of the sensor. [6] Arrangement with a person-guided, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a sensor (1) for detecting coordinates of a measuring object (5) and the arrangement has a movement control (21) which can be actuated by a user in order to control a movement of the sensor (1) relative to a measuring object (5), and wherein the arrangement has: a) a detection device designed to detect a user’s movement request, b) a retrieval device designed to retrieve additional information relating to at least one favorable movement of the sensor (1), and c) a signaling device which is designed to generate and output at least one signal perceivable by the user, wherein the signal signals the user to actuate the movement control (21) in such a way that the sensor (1) executes a movement which is favorable in accordance with the additional information. [7] Arrangement with a person-guided, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a sensor (1) for detecting coordinates of a measuring object (5) and the arrangement has a movement control (21) which can be actuated by a user in order to control a movement of the sensor (1) relative to a measuring object (5), and wherein the arrangement has: a) a detection device designed to detect a user’s movement request, b) a retrieval device designed to retrieve additional information relating to at least one favorable movement of the sensor (1), d) a modification device designed to modify the user's movement request according to the additional information so that a modified movement request is obtained, and e) a motor controller configured to control a movement of the sensor in accordance with the modified movement request. [8] Arrangement according to claim 7, wherein the modifying device is designed - a desired direction of movement of the sensor according to the desired movement in a modified direction of movement of the sensor according to the additional information and / or - to modify a desired rotational movement of the sensor according to the desired movement into a modified rotational movement of the sensor according to the additional information. [9] Arrangement according to claim 7 or 8, wherein the coordinate measuring machine allows a movement of the sensor with motor support with at least two degrees of freedom of movement and wherein the modification device is designed to modify the movement request with respect to at least a first degree of freedom of movement and to maintain the movement request with respect to at least a second degree of freedom of movement. [10] Arrangement according to one of claims 6 to 9, wherein the arrangement further comprises a generating device which is designed to generate the additional information and in doing so to take at least one of the following measures: - Determination of a desired deflection or a desired range of deflections of the sensor designed as a tactile button, - Determination of a desired state of the sensor designed as a tactile button, - Specifying a desired orientation or range of orientations of the sensor, - Specifying that a sensor signal generated by the sensor has a predefined property, - Specification that the sensor designed as an optical sensor detects a predefined feature of a measuring object, - stipulation that the sensor configured as an optical sensor generates a sensor signal with at least one desired predetermined property, - Determination of a desired position of the sensor or a desired spatial area with positions of the sensor, - Determination of a desired movement path of the sensor, - Determination of a desired direction of movement of the sensor and / or - Definition of an area in the room that consists of desired positions of the sensor.

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