Operating a coordinate measuring machine with a person-guided sensor

Abstract

Method for operating an optical sensor (1) on a person-operated, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a motion control (21) which can be operated by a user to control a movement of the sensor (1) relative to a measurement object (5), and wherein the method comprises the following steps: a) Determine that the sensor (1) is in a favorable state of motion relative to the object being measured (5), wherein the favorable state of motion is a relative position or range of relative positions to the object being measured (5) in which the sensor (1) detects or can detect a surface (31) of the object being measured (5) and in which a first predetermined criterion regarding the suitability and / or quality of the detection of the object being measured (5) by the sensor (1) is met, and i) Generating and outputting at least one user-perceivable signal when the sensor (1) is in the favorable motion state, - wherein a first signal indicates to the user that the sensor (1) is in the favorable movement state, and / or - if the user activates or attempts to activate the motion control (21) in such a way that the sensor (1) is to leave the favorable motion state, a second signal (S6) signals to the user that the sensor (1) is leaving the favorable motion state, or that the sensor (1) is to leave the favorable motion state according to the activation of the motion control (21) by the user, or that the sensor (1) would have left the favorable motion state according to the activation of the motion control (21) by the user without the presence of the signal, and / or ii) mechanical inhibition or mechanical blocking of a movement of the sensor (1) by which the sensor (1) would leave the favorable state of motion, and b) in order to achieve an orientation of the sensor (1) favorable for measuring the object (5) by the sensor (1) in the favorable state of motion, iii) Generating and outputting at least one third signal perceptible to the user, signaling the user to operate the motion control (21) in such a way that the sensor (1) achieves the favorable orientation, and / or iv) machine control of a movement of the sensor (1) by which the sensor (1) the favorable orientation is achieved, characterized by the fact that the optical sensor (1) comprises a system with autofocus function, wherein the optical sensor (1) comprises a camera with at least one matrix of sensor elements, wherein the system is able to adjust a focus such that the focus is on the surface (31) of the object being measured if the distance of the optical sensor (1) to the object being measured is within a defined range of distances, and wherein the favorable state of motion is a relative position or range of relative positions of the sensor (1) to the object being measured (5) which is within the defined range of distances.

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 of 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. However, cameras in particular are also 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 covers 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. Machines are known, for example, 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 (for example, 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 (for example, 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 exclusively or primarily serve the purpose of determining the coordinates of a measuring object. Whenever a measuring object is mentioned in this description, this includes in particular 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.In this description and the claims, a measurement object is understood to mean any measurement object, including, in particular, a single workpiece and an arrangement of workpieces. A motor is understood to mean any power machine that performs mechanical work or at least generates a mechanical force by using a form of energy other than mechanical energy to generate the work or force. In particular, motors 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.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.

[0005] In other words, a control system of the coordinate measuring machine's motor system, 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.

[0006] 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.

[0007] In particular, the invention relates to such 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, gestures performed by hand or gestures performed by eye movement. Such gesture controls are known in the field of controlling the movement of machines and will not be described in detail here.

[0008] 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."

[0009] 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.

[0010] 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.

[0011] The sensor is an optical sensor. This means in particular that there must be no 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 irradiated onto the measuring object. However, with camera sensors, for example, the measuring radiation is often limited to radiation from the environment falling on the measuring object. With another type of camera sensor, spatially structured measuring radiation is irradiated onto the measuring object, for example a grating structure or other 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 capture range, where both dimensions extend transversely to the viewing direction of the camera. However, the invention also relates to one-dimensional camera sensors such as line scan cameras. According to the claims, the camera has 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 both the one-dimensional and the two-dimensional camera image, additional depth information can also be determined, with different measuring principles being possible, 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.

[0012] 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.

[0013] The claims relate only to imaging optical sensors. However, individual aspects are also applicable 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.

[0014] While coordinate measuring machines with a human-guided sensor allow the user to easily position the sensor in a desired position, it is difficult for the user to set both the appropriate distance between the sensor and the measuring object and the appropriate orientation of the sensor.

[0015] DE 10 2008 011 534 A1 describes a method for operating a coordinate measuring machine (CMM) whose movable element can be moved manually under the control of a user. An operating range of the CMM depends on a state of the movable element, in particular on a position, an orientation, a speed, and / or an acceleration of the movable element. When a limit of the operating range is reached or exceeded, a haptic signal is output to the user, which can be felt by the user during manual control of the movable element. The movable element can be a measuring head to which a probe unit can be attached. The probe unit, in turn, can be an optical probe unit having a laser triangulation sensor.

[0016] DE 10 2014 220 540 A1 relates to a method for operating a coordinate measuring machine, wherein a movement device for carrying out movements of the coordinate measuring device can be controlled by an operator via an operating device during a movement carried out by the coordinate measuring device, so that a direction and / or a speed of the movement depends on at least one action of the operator.

[0017] DE 10 2008 020 250 A1 describes a coordinate measuring machine with a sensor system on which forces can be exerted manually, but the sensor system is moved by one or more motors.

[0018] DE 198 09 690 A1 describes a coordinate measuring machine with at least one probe unit for scanning a workpiece to be measured. The mechanism for moving the probe unit can be driven via multiple drives. The drives can be controlled with at least one manually operated control element. A force can be applied to the control element via a force unit during the measurement process, depending on specific conditions.

[0019] It is an object of the present invention to provide a method for operating an optical sensor on a human-guided, motor-assisted coordinate measuring machine, as well as a corresponding coordinate measuring machine, which facilitates the user's adjustment of the distance of the sensor to the measurement object and its alignment. In particular, the settings should be easily retained even during measurement of the measurement object.

[0020] The present invention relates to an optical sensor which is operated on a person-guided coordinate measuring machine, in particular an optical sensor as described above.

[0021] 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. Another feature is 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 refer to at least one rectilinear direction and / or at least one rotational direction.

[0022] A method is proposed for operating an optical sensor on a human-guided, motor-assisted coordinate measuring machine. The invention is based on the finding that the suitability and / or quality of the detection of a surface of a measuring object, in particular a workpiece, depends on the orientation of the optical sensor relative to the workpiece.

[0023] For example, an imaging camera can only capture the surface of a workpiece sharply over a large part of the detection area or over the entire detection area if the optical axis of the camera is perpendicular to the surface.

[0024] Of course, the distance of the camera from the workpiece surface must also be adjusted to produce a sharp image. For non-imaging sensors such as confocal chromatic sensors and laser triangulation sensors, the orientation of the sensor relative to the surface must be adjusted to enable measurement. With confocal chromatic sensors, the measuring radiation (e.g., white light) is usually directed perpendicularly or almost perpendicularly onto the surface, so that the reflected radiation also has its maximum intensity perpendicular or almost perpendicular to the surface. Laser triangulation sensors often require alignment at a specified angle to the surface normal in order to receive the reflected radiation according to the laws of reflection.With laser triangulation sensors, it is also important to avoid detecting specularly reflected radiation when measuring a specularly reflective object. The specifications for the use of optical sensors therefore contain corresponding information on the required or recommended alignment of the respective sensor when used on a coordinate measuring machine, and corresponding criteria can be defined to determine whether the sensor, with a given alignment, is suitable for detecting a object for the purpose of measuring it, and / or whether the sensor, with the given alignment, detects the surface of the object with sufficient quality. Even with non-imaging optical sensors, the specifications contain recommendations or requirements regarding the distance between the sensor and the surface of the object.For example, with confocal chromatic sensors, it is recommended that the sensor be located at a distance from the measurement object that is approximately in the middle of the distance measurement range. With a laser triangulation sensor, the orientation relative to the measurement object and the distance to the measurement object must be coordinated. If, for example, the distance is too large, the sensor can no longer detect the reflected radiation at a given angle of incidence relative to the surface normal. With an imaging sensor with an autofocus function, there is a range of relative positions, or in other words distances, to the surface of the measurement object in which the focus can be set to lie on the surface. In this case, too, it is preferred that the favorable movement state (see below) is a relative position or a subrange of relative positions in the middle of the entire range of relative positions.

[0025] Particularly with imaging sensors, the quality of the detection can be described by a quality value that can change continuously within an interval of values. This applies, for example, when the size of the surface area sharply imaged by the sensor is included in the quality value, e.g. as a proportion of the detection range. However, it is also possible to determine for several different sub-areas of the detection range whether the image of the surface of the measuring object is sharp according to a predefined criterion. In this regard, it is known, for example, that a local progression of the image values ​​is evaluated in the image area of ​​the camera that corresponds to part of the detection range. At edges and other structures on the surface that deviate from a smooth surface, the progression of the image values ​​is erratic when the image is sharp.This can be determined, for example, by looking at gradients in the course.

[0026] In particular, it is proposed that the coordinate measuring machine assist the user in maintaining the sensor in a favorable state of motion, namely a relative position or a range of relative positions to the measurement object. In the relative position or relative positions, the sensor can detect at least part of a surface of the measurement object. The favorable state of motion is achieved or exists in particular when a first predetermined criterion regarding the suitability and / or quality of the detection of the measurement object by the sensor is met. In principle, there are various possibilities for this criterion.For example, the criterion can be used to specify, based on available information about the sensor, the position (or, in the case of a range of relative positions, the positions) or the distance (or, in the case of a range of relative positions, the distance range) from the measurement object that the sensor must be in in order to achieve the favorable state of motion. For example, using information about the shape and orientation of the measurement object and information about the position of the sensor from the position measuring system of the coordinate measuring machine, a controller of the coordinate measuring machine can then determine how the sensor is to be moved in order to achieve the favorable state of motion. According to another example, the sensor itself can be used to determine whether the criterion is met. Signals from the sensor's detection of its surroundings can be evaluated.If the sensor detects the target and the criterion is met, then the favorable motion state is reached. For example, with an imaging sensor, at least one image generated by the sensor can be evaluated to determine whether at least part of the target's surface is in focus. In all cases, the criterion can also be used to determine whether the sensor has left the favorable motion state.

[0027] How the suitability or quality of the sensor's detection of the measurement object can be expressed depends in particular on the type of sensor. For example, an imaging sensor can appropriately detect the surface of the measurement object if the image of the surface generated using its sensor signals is sharp at least in partial areas, preferably in a central area, for example, in an area where an optical axis or a predefined axis (see below) of the sensor penetrates the surface of the measurement object. The first criterion can therefore, for example, require that the image be sharp in this central area.In general, if this criterion is met, the sensor is not perpendicular to the surface of the measurement object (e.g., the optical axis or the predefined axis is not perpendicular to the surface), and the quality of the detection of the measurement object can be further improved by optimizing the sensor orientation. However, if the sensor is an imaging sensor that also generates depth information (e.g., by evaluating projected pattern information or by recording a focus stack), or is a confocal chromatic sensor (i.e., a distance sensor), then suitability is generally given if the sensor is in a position relative to the measurement object in which measurement with acquisition of depth information is possible.Preferably, however, the first criterion not only requires that measurement with depth information is possible, but also that the sensor is in a relative position that corresponds to the center of its range over which depth information can be obtained. In the case of a confocal chromatic sensor, this range is the range in which a distance to the measurement object can be determined. The term "the center of the range" can refer to the exact center (the point of symmetry) of the range, a point close to the exact center of the range, or a central region containing the exact center. The quality of detection of the measurement object can correspond to the sharpness of the image or the size or proportion of the sharply imaged part of the image, particularly in the case of imaging sensors without the acquisition of depth information.For such sensors, it may be particularly necessary to improve the quality of detection by adjusting the optimal alignment. A favorable alignment can therefore be achieved if the quality of detection has been improved according to a second predefined criterion or has reached a quality specified by the criterion.

[0028] In particular, the favorable motion state refers not only to the degrees of freedom of the optical sensor's movement relative to the measurement object, but optionally also to at least one optical degree of freedom. This means that the properties of an optical system of the sensor can be adjusted.

[0029] 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 other words, fulfillment of the first specified criterion can also depend on the state of the optical degree of freedom when an optical degree of freedom is present. If the state of the optical degree of freedom is changed (i.e., the setting of properties of the optical system is changed), the first specified criterion can be fulfilled in one case, i.e., the favorable state of motion is then reached, or no longer fulfilled in another case, i.e., the favorable state of motion is left. 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 respect to the optical degree of freedom can be set in a user-controlled manner. In this case, at least one signal (for example, the first and / or second signal described below) can be generated and output perceptibly by the user. Furthermore, alternatively or additionally, once the favorable movement state 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.

[0030] Overall, the method for operating an optical 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 to one another, and the favorable movement state can be achieved by the adjustment. In a second embodiment, which can be implemented independently of the first embodiment or is a further embodiment of the first embodiment, at least one optical degree of freedom is present, the state of which can be adjusted, and the favorable movement state can be achieved by the adjustment.

[0031] For example, in a design of the method, the favorable state of motion - 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.

[0032] The sensor's optical system has an autofocus function. Therefore, there is a range of relative positions (distances) between the sensor and the measurement object within which the autofocus function is capable of adjusting the focus of the optical system so that the focus is on the surface of the measurement object. For example, the favorable motion state can be achieved by moving the sensor with respect to at least one mechanical degree of freedom of movement, thereby achieving a relative position within the specified range. Therefore, the movement enables the autofocus function to adjust the focus on the surface of the measurement object.

[0033] Preferably, the coordinate measuring machine also assists the user in bringing the sensor into the optimal motion state. In particular, a signaling device of the coordinate measuring machine can generate and output signals that indicate to the user how to operate a motion control of the coordinate measuring machine in order to achieve the optimal motion state of the sensor.

[0034] Depending on the design, the movement control comprises different means and / or objects. The means or object enables the user to actuate the device. If the user exerts forces and / or torques on the optical sensor itself or on an object that is particularly firmly connected to the optical sensor, the optical sensor itself or the object connected to it is the actuating means. For example, in the case of 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.

[0035] It is further proposed that the coordinate measuring machine also assist the user in setting an alignment of the sensor at which the measurement of the measurement object can take place and which preferably corresponds to a second predefined criterion. In particular, if this criterion is met, one can speak of a favorable alignment. Instead of a favorable alignment, one can speak of an optimized or improved alignment. In principle, with regard to the nature of the second criterion, the same options for implementing the criterion come into consideration as explained above for the first criterion. However, since it is an alignment, one type of creation and testing of the criterion does not consider the position of the sensor, or not only the position, but also its orientation.The alignment can, for example, be defined as a mathematical vector in the coordinate system of the coordinate measuring machine, where only the direction of the vector is important, not its length. With the other type of criterion mentioned above, as with the first criterion, signals generated by the sensor from the detection of its surroundings can be evaluated. In particular, with an imaging sensor, the second criterion can require a higher quality of the generated image of the surface of the measuring object than the first criterion. For example, a sharp image of the surface of the measuring object can be required in a larger part of the image.

[0036] Preferably, the method also includes the step of measuring the measurement object.

[0037] The coordinate measuring machine can support the user in maintaining the optimal motion state and / or in setting a favorable orientation of the sensor relative to the measurement object 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.

[0038] 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 and / or to a change in the favorable state of movement relative to the measuring object and / or to a change in a favorable orientation of the sensor. In particular, the motor system can therefore, for example, inhibit or block a movement of the sensor that would cause the sensor to leave the favorable state of movement or, in the case of an alternative procedure, that would cause the sensor to lose the favorable orientation. 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 coordinate measuring machine's position measurement system and / or data about the shape of the measuring object. Even if the phrase "inhibiting or blocking a movement" was used, this particularly includes the case where all movements are inhibited or blocked that cause the sensor to leave the favorable movement state or, where applicable, to its orientation no longer being a favorable orientation.

[0039] 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. In particular, it is also possible that the support of the motor action consists at least in part in the sensor being fully automatically brought into the favorable movement state and / or maintained there, and / or at least in part in the sensor being fully automatically brought into the favorable orientation.

[0040] "Favourable" means, in particular, that a measurement of the measurement object can take place. With regard to the favourable movement state, "favourable" can also mean, in some embodiments, that by subsequently adjusting the sensor's orientation, the sensor is placed in a relative position to the measurement object suitable for measuring the measurement object. In other words, the relative position is initially not yet suitable for measuring the measurement object or is not yet optimally suited for this purpose, but by adjusting the sensor's orientation, it is brought into a relative position suitable for measuring the measurement object, or a relative position more suitable for this purpose.

[0041] 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 support through motor skills or in addition to this option of supporting motor skills. This additional option involves generating and outputting signals to the user, who can then, on the basis of the signals, activate the movement control they can control in such a way that the sensor is moved in accordance with the support or, if the favorable movement state is maintained, is not moved. Support via signals has the advantage that the user can move the sensor out of the favorable movement state and / or set a different orientation of the sensor by activating the movement control, contrary to or in modification of the support signaled by the signals.More generally, the user can ignore the signals in whole or in part and, for example, abort the procedure for setting the favorable orientation when the favorable movement condition exists.

[0042] In particular, the following is proposed: A method for operating an optical sensor on a human-guided, motor-assisted coordinate measuring machine, wherein the coordinate measuring machine has a motion control that can be actuated by a user to control a movement of the sensor relative to a measurement object, and wherein the method comprises the following steps: a) determining that the sensor is in a favorable state of movement relative to the measurement object, wherein the favorable state of movement is a relative position or a range of relative positions to the measurement object in which the sensor detects or can detect a surface of the measurement object and in which a first predetermined criterion regarding a suitability and / or a quality of the detection of the measurement object by the sensor is met, and i) generating and outputting at least one signal perceivable by the user when the sensor is in the favorable movement state, - wherein a first signal signals to the user that the sensor is in the favorable movement state, and / or - if the user operates or attempts to operate the motion control in such a way that the sensor is to leave the favorable motion state, the second signal signals to the user that the sensor is leaving the favorable motion state or that the sensor is to leave the favorable motion state according to the user's operation of the motion control or that the sensor would have left the favorable motion state according to the user's operation of the motion control without the presence of the second signal, and / or (ii) mechanically inhibiting or blocking a movement of the sensor which would cause the sensor to leave the favourable state of movement, and b) in order to achieve a favorable orientation of the sensor for the measurement of the measuring object by the sensor in the favorable movement state, iii) generating and outputting at least one third signal perceivable by the user, which signals the user to actuate the movement control in such a way that the sensor achieves the favorable orientation, and / or (iv) mechanically controlling a movement of the sensor so that the sensor achieves the favourable orientation.

[0043] Furthermore, the invention proposes a person-guided, motor-assisted coordinate measuring machine with an optical sensor, wherein the coordinate measuring machine has a motion control that can be actuated by a user to control a movement of the sensor relative to a measuring object, and wherein the coordinate measuring machine has: a) a detection device designed to detect that the sensor is in a favorable state of movement relative to the measurement object, wherein the favorable state of movement is a relative position or a range of relative positions to the measurement object in which the sensor detects or can detect a surface of the measurement object and in which a first predetermined criterion regarding a suitability and / or a quality of the detection of the measurement object by the sensor is met, and i) a first signalling device which is designed to generate and output at least one signal perceivable by the user when the sensor is in the favourable movement state, - wherein a first signal signals to the user that the sensor is in the favorable movement state, and / or - if the user operates or attempts to operate the motion control in such a way that the sensor is to leave the favorable motion state, a second signal signals to the user that the sensor is leaving the favorable motion state or that the sensor is to leave the favorable motion state according to the user's operation of the motion control or that the sensor would have left the favorable motion state according to the user's operation of the motion control without the presence of the second signal, and / or (ii) a locking device designed to mechanically inhibit or mechanically block a movement of the sensor which would cause the sensor to leave the favourable movement state, and b) to adjust the sensor to a position that is favorable for the measurement of the measuring object by the sensor, iii) a second signalling device, which may be the first signalling device or another signalling device and which is designed to generate and output at least one third signal perceivable by the user, which signals the user to actuate the movement control in such a way that the sensor achieves a favourable orientation of the sensor in the favourable movement state, and / or iv) a device controller configured to mechanically control a movement of the sensor by which the sensor achieves the favorable orientation.

[0044] The favorable movement state has already been discussed above. It exists when the sensor is in a discrete, particularly predefined, relative position to the measurement object or when the sensor is in a particularly predefined range of relative positions to the measurement object. A relative position corresponds to a distance between the sensor and the measurement object. While a relative position can be specified, for example, in a sensor's coordinate system as a position on the surface of the measurement object, a distance describes a position difference. In particular, the relative position and thus also the corresponding distance can refer to an area of ​​the surface of the measurement object that has been or is to be detected by the sensor. A point on the surface of the measurement object to which the relative position or distance is related can remain constant or change due to the subsequent adjustment of the favorable alignment.The favorable state of motion is always maintained if, in the case where the favorable state of motion consists of a single relative position, the distance remains constant when the orientation of the sensor changes, or if, in the case where the favorable state of motion consists of a range of relative positions, the distance remains within the corresponding range when the orientation of the sensor changes. The relative position preferably refers to a center point of the area being detected or to be detected and / or to the point on the surface of the measurement object through which the optical axis of the sensor or a predefined axis of an optical sensor passes. Therefore, the favorable orientation of the sensor can be adjusted, for example, by rotating it around this point. However, it can also be adjusted, for example, by rotating it around a fixed point within the optical sensor or in the vicinity of the optical sensor.

[0045] An optical axis is understood to be the axis of symmetry of a rotationally symmetric optical system. In particular, the optical sensor can have such an optical system. However, since the scope of the invention also includes optical sensors that do not have a rotationally symmetric optical system, it is preferable for these sensors to define an axis and to specify the first criterion with respect to this predefined axis. The relative position or positions then relate to the surface point of the measurement object traversed by the predefined axis. The axis is expediently predefined such that it is located in the center or in a central region of the sensor's detection range. In the case of sensors with a point-shaped detection range, the axis that connects the sensor in its detection device to the detected point can be predefined.However, with such sensors, the definition of an axis can be omitted if it is possible to determine in another way which point on the surface of the measuring object the sensor detects for a given orientation.

[0046] As explained above, a first signal can signal to the user that the sensor is in the favorable motion state and / or a second signal can signal to the user that the sensor is leaving the favorable motion state, or that the sensor should leave the favorable motion state according to the user's actuation of the motion control, or that the sensor would have left the favorable motion state according to the user's actuation of the motion control without the presence of the signal. Therefore, depending on the design of the method and the coordinate measuring machine, either only the first signal or only the second signal can be generated and output, or both signals can be generated and output.If a movement that would cause the sensor to leave the favorable movement state is also mechanically inhibited, then only the first signal is preferably generated and output, because in this case, the user cannot control a movement that would cause the sensor to leave the favorable movement state. However, if the movement is additionally inhibited mechanically, both the first signal and the second signal can be generated and output. However, both signals do not need to be generated and output.

[0047] The formulation that the sensor "should leave" the favorable movement state corresponds to the fact that the user does not cause the sensor to move without the support of the coordinate measuring machine's motor system. The essence of the user's influence on the sensor's movement lies in the user making a specification by activating the movement control. The formulation "actuates or attempts to actuate the movement control in such a way that the sensor should leave the favorable movement state" can therefore be equivalently translated as "by activating the movement control, makes the specification or attempts to make the specification that the sensor leaves the favorable movement state."

[0048] It should be noted that, depending on the nature of the second signal, the user may be prevented from, or at least made more difficult, from operating the motion control in such a way that they specify that the sensor be moved out of the favorable motion state. One example is the case where the second signal creates resistance when operating the motion control when the user attempts to specify this.

[0049] There are therefore several cases where the basic principle of generating and outputting the second signal is applied to keep the sensor in the favorable motion state.

[0050] In the first case, the user activates the movement control in such a way that the sensor should leave the favorable movement state. This means, for example, that either no resistance prevents the user from making this entry (and the second signal is therefore output to the user in a different form), or the user has overcome the resistance and still makes the entry. In the first case, the second signal signals to the user that the sensor is leaving the favorable movement state. In particular, this can mean that the sensor will leave the favorable movement state and this can no longer be prevented, that the sensor is about to leave the favorable movement state, and / or that the sensor has left the favorable movement state.Once the user has perceived this type of second signal, he or she can, for example, operate the motion control in such a way that the sensor returns to the favorable motion state.

[0051] In a second case, the user also actuates the movement control in such a way that the sensor should leave the favorable movement state. In this second case, the second signal signals to the user that the sensor should leave the favorable movement state in accordance with the user's actuation of the movement control. In particular, this can mean that the sensor will leave the favorable movement state, but this can still be prevented, and / or that the sensor is in the process of leaving the favorable movement state. It is also conceivable that the second signal means that the sensor has left the favorable movement state. The latter, however, is not preferred. After perceiving the second signal, the user can decide whether to prevent the sensor from leaving the favorable movement state or to end the process in which the sensor is in the process of leaving the favorable movement state.In the non-preferred case that the sensor has already left the favorable movement state, the user can again decide to operate the movement control in such a way that the sensor returns to the favorable movement state.

[0052] According to a third case, the user also activates the motion control in such a way that the sensor should leave the favorable motion state. In this third case, the second signal signals to the user that, according to the activation of the motion control by the user, the sensor would have left the favorable motion state without the presence of the signal. This means that the user has indeed specified that the sensor should leave the favorable motion state. However, the motor system of the coordinate measuring machine has not executed the specification or has not yet executed it. In particular, the execution of the movement that leads to leaving the favorable motion state can be delayed, for example, by the device control. It is also possible that the specification is not yet accepted, i.e.for example, without continuous or additional actuation of the movement control by the user, the movement which would lead to the sensor leaving the favorable movement state will not be carried out. The second signal enables the user to recognise that the favorable movement state is about to be left behind and they can react by no longer controlling and thus specifying the exit from the favorable movement state by actuating the movement control. If the execution of the specification is merely delayed when the second signal is issued, the user can, for example, decide to actuate the movement control in such a way that the sensor is stopped in time before the favorable movement state is left behind or that the sensor is moved back into the favorable movement state after the exit.

[0053] In a fourth case, the user attempts to operate the movement control in such a way that the sensor should leave the favorable movement state. However, the attempt is not yet successful. In this fourth case, the second signal signals to the user that the sensor is leaving the favorable movement state. In this case, the second signal signals a movement state that has not yet been reached and will not be reached due to the attempt to set the default. In this case, the user can decide to continue the attempt and actually set the default for the sensor to leave the favorable movement state. However, they can also decide to abort the attempt and will then preferably be signaled that the sensor has not left the favorable movement state after all.

[0054] The fourth case is related to the fifth case, in which the user attempts to activate the motion control in such a way that the sensor should leave the favorable motion state. However, the attempt is not yet successful. The second signal signals that the sensor should leave the favorable motion state according to the user's activation of the motion control, even though this command has not actually been given yet. In this case, the user can decide to continue the attempt and actually make the command that the sensor leave the favorable motion state. However, they can also decide to abort the attempt, and in this case, they will preferably be signaled that the sensor has not left the favorable motion state.

[0055] In a sixth case, the user attempts to activate the motion control in such a way that the sensor should leave the favorable motion state. However, the attempt is not yet successful. In this sixth case, the second signal signals to the user that, according to the user's activation of the motion control, the sensor would have left the favorable motion state without the presence of the signal. The example of the second signal forming a resistance to the activation with the instruction that the sensor leaves the favorable motion state relates in particular to this sixth case. In simpler terms, the user attempts to activate the motion control in such a way that the sensor leaves the favorable motion state. However, as long as the resistance is not overcome, the user is unable to set the instruction that the sensor leaves the favorable motion state.Another example of the sixth case is a visual representation which makes it clear to the user that if the movement control is continued, the instruction would be that the sensor is leaving the favorable movement state. For example, if the user exerts a force on an actuating device, a bar of short length may initially be visually displayed. If the force increases over time, or if the force causes an object to be deflected further from a rest position, the length of the displayed bar continually increases. For example, a marker for a maximum bar length is also visually displayed, which would then indicate that the sensor is leaving the favorable movement state. The user can therefore prevent this instruction from being issued by changing the actuation of the movement control.For example, it can reduce the force exerted on the actuating device or stop exerting the force.

[0056] A device control of the coordinate measuring machine can be configured according to the cases just described. In particular, the first signaling device can also transmit the first signal to the device control, and the device control can further receive or have information about which movement of the sensor would lead to a departure from the favorable movement state. The device control has the function of controlling the motor system of the coordinate measuring machine according to the user's specifications. These specifications are the user's specifications when they actuate the movement control to control a movement of the sensor.

[0057] In a preferred embodiment, the user has the option of controlling the exit from the favorable movement state. This also applies to embodiments in which such a movement is mechanically inhibited or blocked. Preferably, there is an operating mode for actuating the movement control that signals that the favorable movement state should be exited. In particular, if the execution of a movement corresponding to an actuation of the movement control such that the sensor should exit the favorable movement state is delayed as described above, the user can continue the actuation and thereby signal that the favorable movement state should be exited.In particular, it can therefore be determined that the user maintains the actuation of the motion control for more than a predetermined minimum period of time to exit the favorable movement state, and then, in particular, a device control of the coordinate measuring machine can execute the movement in accordance with the actuation. However, this procedure can also be used alternatively or additionally if the user exerts a predetermined minimum force and / or a predetermined minimum torque on an actuating means (such as a joystick) of the motion control.

[0058] As explained above, the favorable orientation of the sensor can be set by mechanically controlling a movement of the sensor and / or by controlling the user, who actuates the movement control while taking the third signal into account. Depending on the design of the method and the coordinate measuring machine, this therefore includes the case in which the favorable orientation is set exclusively by mechanical control and thus without taking into account any actuation action by the user. Alternatively, actuation of the movement control by the user is also taken into account. Furthermore, alternatively, the user controls the movement of the sensor into the favorable orientation alone, but (as with the inclusion of the third signal) after and / or while receiving the at least one third signal.When taking into account the user's actuation of the motion control, the user can, for example, specify or influence the speed or acceleration of the movement through their actuation and / or the user can, for example, cause deviations from the movement path that would have been executed without their actuation. However, the machine control system preferably ensures that the sensor achieves the optimal orientation in every case. Taking into account the user's actuation is also useful when there are several optimal orientations and the user influences or specifies which of these orientations the sensor achieves through their actuation.

[0059] The aforementioned signals that are generated and output so that the user can perceive them can be of various 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.

[0060] The force can, for example, generate resistance to 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 sensor is in the favorable state of movement and the force would cause the sensor to leave the favorable state of movement. In a different operating situation, the force is unsuitable, for example, if it controls a movement of the sensor which does not lead to the favorable alignment of the sensor or leads to the alignment via an unsuitable or unfavorable movement path.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, starting from the favorable movement state of the sensor, there is at least one suitable direction of movement of the actuating means that leads to a movement of the sensor that brings it into the favorable orientation. In these cases, there are usually several unsuitable directions of movement of the actuating means at the same time, which lead to the sensor leaving the favorable movement state. 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 aforementioned resistance force is an increased resistance force if the actuating device must always be actuated against a resistance force, as is preferred. In one variant of the use of the aforementioned force generator or when applying the resistance force, the resistance force as a signal to the user is so great 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, thereby specifying that the generation of the resistance force or the increased resistance force is terminated. In this way, the user signals, for example, that the sensor should leave the favorable movement state.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] In particular, the optical sensor is an imaging sensor that has a non-point detection area for detecting at least part of a measurement object from a fixed relative position of the sensor and the measurement object and with a fixed orientation of the sensor. A fixed relative position is understood to mean that the sensor, from this relative position with a fixed orientation relative to the measurement object, not only has a point detection area, but also detects the measurement object with spatial resolution. Another name for such an optical imaging sensor is "imaging sensor" because the information it detects makes it possible to generate an image of the detected area of ​​the measurement object. The invention is particularly advantageous with regard to such an imaging sensor because the quality of images in many cases depends considerably on the orientation.For an imaging sensor, the first predefined criterion can be defined in relation to the sharpness of the image, with the optimal alignment preferably improving the sharpness of the image or increasing the portion of the image that sharply depicts the surface of the target. The fixed relative position of the sensor and target and the fixed alignment are variable. The term "fixed" simply means that no relative movement between the sensor and target is required to capture an image.

[0066] Preferably, signals are also generated and output that indicate to the user how to operate the motion control to achieve the optimal motion state of the sensor. The optimal motion state can be defined, in particular, with respect to a relative position or a range of relative positions of the sensor relative to a specified surface point on the surface of the measuring object. In this case, the method or the coordinate measuring machine can also support the user in measuring at least one specified surface point or a surface area around this point.

[0067] In imaging sensors, the favorable state of motion can be achieved in particular or exclusively by adjusting the properties of an optical system of the sensor. The possibility of adjusting the properties of the optical system can be referred to as the optical degree of freedom. In this case, for example, in the case of autofocus sensors, the favorable state of motion consists in the fact that the current relative position is a position in which the image of the surface of the measuring object generated by the sensor is sharp in at least a partial area of ​​the image. If the favorable state of motion in such optical sensors is a range of relative positions, this range can, for example,be defined in that it enables the focusing of a part of the generated image in every relative position of the range and, in particular, the focusing of an area around a surface point of the measurement object is possible, wherein the surface point is the point of impact of the optical axis or the predefined axis of the sensor on the surface. Even with such a range of relative positions, it is preferred that the favorable movement state only contains a partial range of the relative positions, namely a partial range in the middle of the range of relative positions. This means that, particularly during the adjustment of the favorable alignment of the sensor, there is a tolerance for a change in the relative position and a sharp image area can still be adjusted.The size of the focused or focusable image area can then be increased by setting the favorable alignment, at least if the surface of the measuring object in the detected area is flat or almost flat. However, the favorable state of movement can also be the entire range of relative positions in which focusing of an image area is possible. It is particularly preferred that the sensor is positioned so that the exact center of this range of relative positions is set, i.e. the sensor has the relative position of the center of the range of relative positions to the measuring object. Once this has been determined, the remaining substeps of step a) and step b) of the method described above or of the corresponding coordinate measuring machine can be carried out.

[0068] Preferably, focus is set on a point on the surface of the measuring object at which an optical axis or the above-mentioned predefined axis pierces the surface.

[0069] Autofocus functions of optical sensors can be implemented in various ways. For example, it has long been known to combine an optical system with a zoom function based on adjusting the distance between the 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 for a long time until the viewed image area is sharply imaged.

[0070] Alternatively, other systems with autofocus function can be used, in which the focus is adjusted, for example, by a Micro-Mirror Array Lens System (MALS), as is 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.

[0071] The favorable state of motion can in particular also be achieved by the user positioning the sensor in one of several possible relative positions to an area of ​​the surface of the measuring object to be recorded and is supported in doing so by the motor system of the coordinate measuring machine. The user controls the positioning, as already known, by operating the motion control of the coordinate measuring machine. In this set relative position, the autofocus function of the sensor sets the focus distance so that the focus is in the surface area to be imaged. When the state of motion is reached, or only afterwards, but if the favorable state of motion still exists, the procedure is as described above, i.e. the user is supported in maintaining the favorable state of motion and is supported in setting the favorable orientation of the sensor.As explained above, the term “assistance” includes, depending on the design, the mechanical inhibition or mechanical blocking of a movement of the sensor by which the sensor would leave the favorable movement state and / or the mechanical control of a movement of the sensor by which the sensor achieves the favorable orientation.

[0072] In one embodiment of the method, the following additional step is therefore performed after the favorable movement state has been reached: automatically adjusting the focus of an optical system of the sensor on the surface of the measuring object in a region of the surface of the measuring object detected by the sensor. This corresponds to an embodiment of the coordinate measuring machine in which an adjustment device of the optical sensor is configured to adjust the focus of an optical system of the sensor on the surface of the measuring object in a region of the surface of the measuring object detected by the sensor when the favorable movement state exists.

[0073] For example, the focus adjustment can be triggered by the user, for example, by the user generating a corresponding actuation signal. In terms of the method, this means that the actuation signal is received from the user, and this triggers the focus adjustment. With regard to the coordinate measuring machine, an interface for receiving the actuation signal may be present, or the coordinate measuring machine may have an actuation means such as a pressure-sensitive sensor. In this embodiment of the coordinate measuring machine, the reception or generation of the actuation signal by the user results in the focus of the optical system of the optical sensor being adjusted.If the optical sensor with its optical system is an arrangement that can be removed from the coordinate measuring machine, then the sensor, when coupled to the coordinate measuring machine, can be connected to the remaining part of the coordinate measuring machine via a signal line. The said remaining part has at least the user-operable movement control and the motor system of the coordinate measuring machine, as well as, if applicable, the device control of the coordinate measuring machine that is present in addition to the motor system. It is also possible for the control device that controls the adjustment of the focus and, in particular, also evaluates the image information from the sensor required for this purpose to be integrated into the remaining part of the coordinate measuring machine. This control device can therefore, for example, be part of the aforementioned device control of the coordinate measuring machine.

[0074] In all cases in which the optical sensor has an autofocus function or is combined with such a function, the focus on the surface of the measuring object can be adjusted continuously, for example, or at a specific point in time or at several points in time. Such a point in time is preferably after the favorable movement state has been reached, but before the favorable orientation of the sensor has been adjusted. This has the advantage that an image obtained after the focus has been adjusted can be used to check whether the favorable movement state is actually favorable. Another such point in time for adjusting the focus, which may also be the only point in time for adjusting the focus, is after the favorable orientation of the sensor has been adjusted. This ensures that the focus is correctly adjusted for the subsequent recording of at least one image.Even if in many cases it can be assumed that a focus previously set in the favorable movement state on the surface of the measuring object is still on the surface of the measuring object after the favorable orientation of the sensor has been set, it may be useful to check or readjust the focus.

[0075] If it turns out during the favorable movement state that the focus cannot be adjusted in the area of ​​the surface of the measuring object to be detected, then an image analysis device of the coordinate measuring machine can, for example, decide that a favorable movement state does not exist. In this case, the output of corresponding signals to the user and any existing mechanical inhibition or blocking of a movement of the sensor is canceled. In particular, taking into account an analysis result from the image analysis device, it can then be determined which relative position or range of relative positions represents a favorable movement state. This changed favorable movement state can then be adjusted by moving the sensor, controlled by the user and / or by mechanical control of the movement of the sensor.If the user controls the movement, the description applies analogously in any configuration regarding the setting of the favorable orientation of the sensor.

[0076] In general, an imaging optical sensor, as already mentioned, for example, with regard to the acquisition of a focus stack, can capture more than a two-dimensional image of the surface of the measurement object in the current relative position to the measurement object. In a conventional manner, a point cloud of the detected surface points of the measurement object can be generated from this. A point cloud is understood to mean that the detected points lie in a three-dimensional space.

[0077] With regard to the present invention, this means that after the favorable orientation has been achieved, the acquisition of the two-dimensional images begins. In particular, the favorable orientation is maintained during the acquisition of the images, or a correspondingly different favorable orientation can be set for the acquisition of individual images. At least one third signal perceivable by the user can also be generated and output, signaling the user to activate the movement control such that the sensor achieves the favorable orientation. Alternatively or additionally, the movement of the sensor to achieve the (different) favorable orientation can be carried out by mechanically controlling the movement. E.g.Depending on their design, the MALS systems mentioned above can capture one or more images of the measurement object with a favorable sensor alignment if the optical axis or the predefined axis of the system is not perpendicular to the surface of the measurement object. Different inclinations of the optical axis or the predefined axis relative to the surface normal, and thus different favorable orientations of the optical sensor, can also be useful if multiple images of the measurement object are acquired using a MALS system while maintaining the favorable state of motion. In this and other cases, the user can be supported by the optical sensor, as already described, in maintaining the favorable state of motion while the image information is being acquired, while still setting different favorable orientations of the sensor as described.

[0078] As already mentioned at the beginning, the movement of the sensor is understood as a relative movement of the sensor to the measuring object. At least one degree of freedom of movement can therefore be realized by moving the measuring object relative to a fixed base.

[0079] In general, it is preferred that, in any embodiment of the method and the coordinate measuring machine, the user is also assisted in maintaining the set favorable orientation of the sensor. In this regard, the same method steps or functionalities of the coordinate measuring machine apply analogously as for maintaining the favorable movement state. This therefore includes generating and outputting at least one signal perceivable by the user and / or mechanically inhibiting or blocking a movement of the sensor that would cause the sensor to deviate from the favorable orientation, i.e., that would lead to a different orientation.

[0080] In particular, an adjustable illumination device can also be provided which, when operated, illuminates the surface of the measurement object in the area to be detected. Adjusting the illumination device makes it possible to change the illumination (e.g., the spatial distribution of the illumination intensity) in such a way that it is improved or optimized with regard to the detection of the surface by the sensor. The illumination device can be designed to perform the adjustment fully automatically with improved or optimized illumination. Alternatively, the user can control the adjustment of the illumination device by actuating a corresponding actuating device. In this case, everything described in this description regarding the user-controlled adjustment of the favorable orientation of the sensor applies analogously.In particular, a signal perceivable by the user can be generated and output, which signals the user to control the setting such that the lighting device produces the improved or optimized lighting.

[0081] 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 an optical sensor, e.g. the coordinate measuring machine to which the Fig. 1 mechanism shown belongs, Fig. 3 is a diagram showing the setting of a favorable alignment of an optical sensor relative to a surface of a measuring object, schematically represented as a flat surface, Fig. 4 schematically shows a flow diagram of method steps of a first embodiment of the method for operating an optical sensor, Fig. 5 schematically shows a flow diagram of method steps of a second embodiment of the method for operating an optical sensor and Fig. 6 schematically shows a flow diagram of method steps of a third embodiment of the method for operating an optical sensor.

[0082] 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 that are movably coupled to one another via joints 14. An optical sensor 1 is arranged at a free end of one of the arms 16. An axis of the optical 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 fixedly attached to the optical sensor 1 as an actuating means. A user can grip the handle 3 and control a movement of the optical sensor 1 by exerting forces on the handle 3 and thus also on the optical sensor 1. Since this is a motor-assisted coordinate measuring machine and therefore, particularly with regard to this example, a mechanism 12 rotary 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. In particular, the motor system can also perform weight compensation so that the weight of the optical sensor 1 and the components of the mechanism 12 does not lead to an unintentional movement.For example, if the user does not exert any force on the handle, the weight compensation causes the optical sensor 1 to maintain its position and orientation. If, however, the user exerts a force on the handle 3, the motor function assists the user (possibly with the exception of certain operating states) in causing the sensor 1 to execute the desired movement. In particular, the motor function 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 1 with only a single degree of freedom or with a small number of degrees of freedom of movement.

[0083] The schematic block diagram in Fig. Figure 2 shows a coordinate measuring machine 10 having an optical sensor 1. The same reference numerals in different figures denote the same or corresponding devices and objects. Therefore, the optical sensor 1 in Fig. 2 for example, the optical sensor 1 from Fig. 1. The optical 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] In the Fig. 3, the sensor 1 is in both positions shown in the so-called favorable movement state, ie its distance or its relative position to the surface 31 fulfills the first predetermined criterion with regard to a suitability and / or a quality of the detection of the measuring object by the sensor 1. In the example shown, the distance and thus the relative position of the sensor 1 to the surface 31 even remains constant during the rotation of the sensor 1 in order to adjust its orientation. In the further left in Fig. In the position of the optical sensor 1 shown in Figure 3, it has reached its favorable orientation with respect to the surface 31 of the measurement object. In the specific embodiment, the favorable orientation is achieved when the viewing direction of the sensor 1 coincides with the surface normal of the surface 31. However, this is different in other embodiments, namely in particular in optical sensors that are not intended to view the surface of a measurement object exactly perpendicular to the surface.

[0088] In the Fig. In the embodiment shown in Fig. 3, the rotation of the optical sensor 1 to adjust the favorable orientation takes place around the center of rotation, which is defined by the point at which the viewing axis (e.g. optical axis or predefined axis) of the optical sensor 1 already looks in the starting position.

[0089] In other words, the viewing axis passes through the center of rotation on the surface of the workpiece. This may also be different in other embodiments. For example, the optical sensor 1 could be moved from its initial position further to the right in Fig. 3 can be rotated around a rotation center that lies within the optical sensor 1. In this case, the position of the optical sensor 1 in space is not changed or only slightly changed and it receives the position and orientation shown by dashed lines in Fig. 3. This, too, is merely an exemplary embodiment. The center of rotation can be located anywhere else. Furthermore, it does not have to be a center of rotation that remains fixed in space during the rotation of the optical sensor. Rather, the rotation in space can be superimposed with at least a linear movement.

[0090] According to the procedure described before the description of the figures, it is determined (particularly after a corresponding movement of the sensor) that the sensor is in a favorable state of motion relative to a measurement object. In this state of motion, a first predetermined criterion regarding the suitability and / or quality of the sensor's detection of the measurement object is met. The coordinate measuring machine has a locking device for this purpose. Again referring to Fig. 2, the detection device can be, for example, the device controller 23, which receives the information for determining whether the first specified criterion is met from the position measuring system 25. However, additional information regarding the position of the measuring object is required. Particularly for irregularly shaped measuring objects, this additional information can be based on a previously performed position and orientation determination of the measuring object and, optionally, on data about the shape of the measuring object, such as CAD data.

[0091] The first signaling device of the coordinate measuring machine, which was mentioned above and which is designed to generate and output at least one signal perceivable by the user when the sensor 1 is in the favorable movement state, can be used with reference to the embodiment of the Fig. 2 can be realized, for example, by a combination of the device control 23 (which generates the at least one signal) and the motion control 21 (which outputs the signal to the user).

[0092] A blocking device which mechanically inhibits or mechanically blocks a movement of the sensor 1, whereby this movement is such a movement by which the sensor 1 would leave the favorable movement state, can be provided with respect to the embodiment of the Fig. 2, for example, by a combination of the device controller 23 with the drive controller 29 and the drive 27. Alternatively or additionally, a brake can be provided which is designed to inhibit or block a degree of freedom of movement assigned to it. The device controller 23 controls the drive controller 29, for example, in such a way that it causes the drive 27 to block or inhibit the movement. In doing so, the device controller 23 can access the information it receives from the motion controller 21. If, for example, the user actuates the actuating means 22 in a manner in which the motion controller 21 requests a movement which would cause the sensor 1 to leave the favorable movement state, the device controller 23 calculates whether the entire movement or, for example, only individual movement components of the movement should be inhibited or blocked.

[0093] The above-mentioned second signaling device, which is designed to generate and output at least one third signal perceivable by the user, which signal to the user to actuate the movement control such that the sensor 1 achieves a favorable orientation in the favorable movement state, can again be realized in an analogous manner as described by a combination of the device control 23 with the movement control 21.

[0094] Finally, with regard to the example of Fig. 2, the device controller 23 can mechanically control a movement of the sensor 1, by which the sensor 1 achieves the favorable orientation. Again, the control process of the device controller is based, for example, on the position information and orientation information received from the position measuring system 25. To ensure that the favorable movement state is maintained, the device controller 23 can also again access the information about the position and orientation, and optionally the shape, of the measurement object 5.

[0095] Fig. 4 shows a flowchart illustrating method steps of a first embodiment of a method for operating an optical sensor. In a first step S1, the optical sensor operated on a human-guided, motor-assisted coordinate measuring machine is moved into a relative position to a measurement object under the control of a user. For example, triggered by an actuation by the user, in a subsequent step S2 it is determined that the sensor is in a favorable state of movement relative to the measurement object. The aforementioned first predetermined criterion is checked and it is determined that it is met. In a subsequent step S3, a first signal is generated and output, for example, via the actuation means used by the user to control the movement. This signal signals to the user that the sensor is in the favorable state of movement. For example,the user can now stop controlling a movement of the sensor and instead request in a subsequent step S4 that the sensor be brought into a favorable orientation. In a subsequent step S5, for example, the aforementioned device control of the coordinate measuring machine automatically controls a rotational movement of the sensor via the drive control and the drive of the coordinate measuring machine, through which it reaches the favorable orientation. Optionally, for example as part of step S3, the degrees of freedom of the sensor's movement can be inhibited or locked so that only a rotational movement of the sensor is possible, which allows it to be brought into the favorable orientation. This has the advantage that the user cannot inadvertently control a movement of the sensor that causes the sensor to leave the favorable movement state.

[0096] If the sensor has an autofocus function, the focus can be adjusted to the surface of the target at any time after step S3. This can optionally be repeated.

[0097] Fig. Figure 5 shows a flowchart with method steps of a second embodiment of the method. The same designations of method steps refer to the same method steps as described in Fig. 4. Therefore, in this procedure, the sensor is also brought into a favorable movement state (step S1) and it is determined in step S2 that this favorable movement state has been reached. In the following step S6, however, it is not or not only signaled that the sensor is in the favorable movement state. Rather, in step S6, if the user actuates the movement control in such a way that the sensor should leave the favorable movement state, a signal is generated and output to the user from which the user can conclude that the sensor is leaving the favorable movement state. The user can then ensure that the favorable movement state is reached again by actuating the movement control. Alternatively, the signal can signal to the user that the sensor should leave the favorable movement state in accordance with the actuation of the movement control by the user. At the same time, however, it is delayed, for example.The coordinate measuring machine's control system initiates the execution of this movement. This gives the user the opportunity to recognize that the movement they are controlling is causing the sensor to leave the favorable motion state.

[0098] In the following step S7, it is determined that the user has continued operating the motion control in such a way that the sensor should leave the favorable motion state. Therefore, in the following step S8, the movement controlled by the user is executed, and the sensor leaves the favorable motion state.

[0099] In Fig. 6, a procedure is schematically represented by steps that correspond to steps S1 and S2 of Fig. 4 and Fig.5 begin. In step S9 following step S2, the user is signaled that the sensor is in the favorable movement state. In the following step S10, it is determined that the user requests the setting of the favorable orientation of the sensor or, as a result of the favorable movement state being reached, the setting of the favorable movement state is automatically signaled. In the following step S11, the sensor is moved under the control of the user via actuation of the movement control such that it achieves the favorable orientation. If the user actuates the movement control in such a way that the sensor is to leave the favorable movement state, the user is signaled that the sensor would leave the favorable movement state if the movement is carried out as requested by the user.Again, the execution of the movement can be delayed to allow the user to perform a different movement.

[0100] Alternatively, particularly in the example of resistance described above, the signal can signal to the user through the resistance that the user would actually cause the favorable movement state to be exited if the resistance were overcome. Actuation of the movement control, which leads to the resistance, would, without the resistance, immediately lead to the exit from the favorable movement state. This can therefore also be interpreted as an attempt by the actuation to cause the sensor to exit the favorable movement state. However, if the resistance is not overcome by the user, the sensor remains in the favorable movement state and the resistance has merely signaled to the user that, by actuating the movement control, it would have caused the user to exit the favorable movement state.

[0101] In a specific embodiment, for example, the movement of the sensor to leave the favorable movement state can only be carried out when the resistance applied by the second signal is overcome. However, resistance is not the only possibility. As already mentioned above, a signal such as a mechanical vibration or an acoustic signal of a certain frequency can be generated. Such a signal can be generated and output as a warning signal and also perceived as such by the user. Since any movement control is subject to a certain time delay until the movement is actually carried out, the warning signal can still be output before the movement requested by the user is carried out. The user can then control the movement control in such a way that, for example,a reverse movement of the sensor is requested or at least a modified movement of the sensor is requested and the sensor does not leave the favorable movement state. Not only in relation to the embodiment specifically presented here, the warning signal can also be issued when the user is about to request that the sensor leave the favorable movement state. In this case, it is concluded that the user will request that the sensor leave the favorable movement state (and this request is imminent) because the sensor is already at the edge of the favorable movement state (in the case that the favorable movement state has a range of relative positions to the measurement object).This conclusion can also be drawn when an ongoing process of actuating the movement control by the user has already progressed and it can be concluded from this process that the user is about to request that the user leave the favorable movement state. 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

Claims

[1] Method for operating an optical sensor (1) on a person-guided, motor-assisted coordinate measuring machine (10), wherein the coordinate measuring machine (10) has a motion control (21) that can be actuated by a user to control a movement of the sensor (1) relative to a measurement object (5), and wherein the method comprises the following steps: a) determining that the sensor (1) is in a favorable state of movement relative to the measurement object (5), wherein the favorable state of movement is a relative position or a range of relative positions to the measurement object (5) in which the sensor (1) detects or can detect a surface (31) of the measurement object (5) and in which a first predetermined criterion regarding a suitability and / or a quality of the detection of the measurement object (5) by the sensor (1) is met, and i) generating and outputting at least one signal perceivable by the user when the sensor (1) is in the favorable movement state, - wherein a first signal signals to the user that the sensor (1) is in the favorable movement state, and / or - if the user actuates or attempts to actuate the movement control (21) in such a way that the sensor (1) should leave the favorable movement state, a second signal signals to the user (S6) that the sensor (1) is leaving the favorable movement state or that the sensor (1) should leave the favorable movement state according to the actuation of the movement control (21) by the user or that the sensor (1) would have left the favorable movement state according to the actuation of the movement control (21) by the user without the presence of the signal, and / or ii) mechanically inhibiting or blocking a movement of the sensor (1) which would cause the sensor (1) to leave the favourable state of movement, and b) in order to achieve a favorable orientation of the sensor (1) for the measurement of the measuring object (5) by the sensor (1) in the favorable state of movement, iii) generating and outputting at least one third signal perceivable by the user, which signals the user to actuate the movement control (21) in such a way that the sensor (1) achieves the favorable orientation, and / or iv) mechanically controlling a movement of the sensor (1) by which the sensor (1) the favorable alignment is achieved, characterized by , that the optical sensor (1) has a system with an autofocus function, wherein the optical sensor (1) has a camera with at least one matrix of sensor elements, wherein the system is capable of adjusting a focus such that the focus lies on the surface (31) of the measurement object if a distance of the optical sensor (1) to the measurement object is within a defined range of distances, and wherein the favorable movement state is a relative position or a range of relative positions of the sensor (1) to the measurement object (5) which lies within the defined range of distances. [2] Method according to claim 1, wherein the optical sensor (1) is an imaging sensor having a non-point detection area for detecting at least part of a measurement object (5) from a fixed relative position of the sensor (1) and the measurement object (5) with a fixed orientation of the sensor (1) relative to the measurement object (5). [3] Method according to claim 2, wherein the first predetermined criterion in step a) of claim 1 comprises that the sensor (1) sharply images the measurement object (5) at least in a part of the detection area. [4] Method according to one of the preceding claims, wherein signals are generated and output which signal to the user how he has to operate the movement control (21) in order to achieve the favorable movement state of the sensor (1). [5] Method according to one of the preceding claims, wherein, if the user actuates the movement control (21) in such a way that the sensor (1) is to leave the favorable movement state, execution of this movement is delayed. [6] Method according to one of the preceding claims, wherein the method includes the additional step, which is carried out after reaching the favorable movement state: automatically adjusting a focus of an optical system of the sensor (1) on the surface (31) of the measuring object (5) in a region (7) of the surface (31) of the measuring object (5) detected by the sensor (1). [7] Method according to one of the preceding claims, wherein the favorable state of motion - depends on the states of at least one mechanical degree of freedom of movement of the sensor (1) and on the setting of properties of an optical system of the sensor, and / or - depends on the states of at least two mechanical degrees of freedom of the movement of the sensor (1). [8] Method according to one of claims 1 to 7, wherein the favorable movement state is a relative position or a range of relative positions of the sensor (1) to the measuring object (5) which lies in the middle of the defined range of distances, wherein in the case of the range of relative positions this range is smaller than the defined range of distances. [9] Person-guided, motor-assisted coordinate measuring machine (10) with an optical sensor (1), wherein the coordinate measuring machine (10) 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 coordinate measuring machine (10) has: a) a detection device which is designed to detect that the sensor (1) is in a favorable state of movement relative to the measurement object (5), wherein the favorable state of movement is a relative position or a range of relative positions to the measurement object (5) in which the sensor (1) detects or can detect a surface (31) of the measurement object (5) and in which a first predetermined criterion regarding a suitability and / or a quality of the detection of the measurement object (5) by the sensor (1) is met, and i) a first signalling device which is designed to generate and output at least one signal perceivable by the user when the sensor (1) is in the favourable movement state, - wherein a first signal signals to the user that the sensor (1) is in the favorable movement state, and / or - if the user actuates or attempts to actuate the movement control (21) in such a way that the sensor (1) is to leave the favorable movement state, the second signal signals to the user (S6) that the sensor (1) is leaving the favorable movement state or that the sensor (1) is to leave the favorable movement state according to the actuation of the movement control (21) by the user or that the sensor (1) would have left the favorable movement state according to the actuation of the movement control (21) by the user without the presence of the signal, and / or ii) a locking device designed to mechanically inhibit or mechanically block a movement of the sensor (1) which would cause the sensor (1) to leave the favourable movement state, and b) for setting an alignment of the sensor (1) which is favourable for the measurement of the measuring object (5) by the sensor (1), iii) a second signalling device, which may be the first signalling device or another signalling device and which is designed to generate and output at least one third signal perceivable by the user, which signals the user to actuate the movement control (21) in such a way that the sensor (1) achieves a favourable orientation of the sensor (1) in the favourable movement state, and / or iv) a device control (32) which is designed to mechanically control a movement of the sensor (1) by which the sensor (1) achieves the favorable orientation, characterized by , that the optical sensor (1) has a system with an autofocus function, wherein the optical sensor (1) has a camera with at least one matrix of sensor elements, wherein the system is capable of adjusting a focus such that the focus lies on the surface (31) of the measurement object if a distance of the optical sensor (1) to the measurement object is within a defined range of distances, and wherein the favorable movement state is a relative position or a range of relative positions of the sensor (1) to the measurement object (5) which lies within the defined range of distances. [10] Coordinate measuring device (10) according to claim 9, wherein the optical sensor (1) is an imaging sensor (1) having a non-point detection area for detecting at least part of a measurement object (5) from a fixed relative position of the sensor (1) and the measurement object (5) with a fixed orientation of the sensor (1) relative to the measurement object (5). [11] Coordinate measuring device (10) according to claim 10, wherein the first predetermined criterion comprises that the sensor (1) sharply images the measuring object (5) at least in a part of the detection area. [12] Coordinate measuring device (10) according to one of claims 9 to 11, wherein the first or the second signaling device or a third signaling device is designed to generate and output at least one fourth signal perceivable by the user, which signal to the user to actuate the movement control (21) such that the sensor (1) reaches the favorable movement state. [13] Coordinate measuring device (10) according to one of claims 9 to 12, wherein an adjustment device of the optical sensor (1) is designed to adjust a focus of an optical system of the sensor (1) on the surface (31) of the measuring object (5) in a region (7) of the surface (31) of the measuring object (5) detected by the sensor (1) when the favorable movement state exists. [14] Coordinate measuring device (10) according to one of claims 9 to 13, wherein the favorable state of movement - depends on the states of at least one mechanical degree of freedom of the movement of the sensor (1) and on the setting of properties of an optical system of the sensor (1), and / or - depends on the states of at least two mechanical degrees of freedom of the movement of the sensor (1). [15] Coordinate measuring device (10) according to one of claims 9 to 14, wherein the favorable movement state is a relative position or a range of relative positions of the sensor (1) to the measuring object (5) which lies in the middle of the defined range of distances, wherein in the case of the range of relative positions this range is smaller than the defined range of distances.

Images