公开(公告)号：EP1988357B1

公开(公告)日：2018-10-17

申请号：EP07107540.2

申请日：2007-05-04

申请人： Hexagon Technology Center GmbH

发明人： Jordil, Pascal ,  Pettersson, Bo

IPC分类号： G01B5/008 ,  G01B11/03 ,  G01B21/04

CPC分类号： G01B21/047 ,  G01B5/008

摘要： A measuring method and system involving a measuring coordinate probe, which can be moved precisely, by appropriate actuators, with respect to a positioning platform (60) on which the probe is mounted; and whose position relative capable to said positioning platform (60) can be measured, by suitable encoders (780).The invention can be carried out with probes, actuators and encoders of different nature. The actuators (730) preferably allow the motion of the probe according to two or more independent degrees of freedom, so that the probe itself can be moved in a plane, or in a three-dimensional region of space, and its orientation can be chosen, within some suitable limits. The method and system of the invention provide very exact local measurement, even if the platform (60) does not deliver the very best precision

公开(公告)号：EP2677270B1

公开(公告)日：2015-01-28

申请号：EP12173085.7

申请日：2012-06-22

申请人： Hexagon Technology Center GmbH

发明人： Pettersson, Bo ,  Jordil, Pascal

IPC分类号： G01B5/008 ,  B25J18/00 ,  G01B21/04

CPC分类号： G01B7/008 ,  B25J18/00 ,  G01B5/008 ,  G01B21/045 ,  G01D5/241

公开(公告)号：EP2887011B1

公开(公告)日：2017-02-08

申请号：EP13199065.7

申请日：2013-12-20

申请人： Hexagon Technology Center GmbH

发明人： Pettersson, Bo ,  Siercks, Knut ,  Jordil, Pascal

IPC分类号： B29C67/00 ,  G01B5/008 ,  G01B21/04

CPC分类号： G01B5/008 ,  B29C64/112 ,  G01B21/04

公开(公告)号：EP2698596A1

公开(公告)日：2014-02-19

申请号：EP12180720.0

申请日：2012-08-16

申请人： Hexagon Technology Center GmbH

发明人： Pettersson, Bo ,  Jordil, Pascal

IPC分类号： G01B11/00 ,  G01B21/04

CPC分类号： G01B21/04 ,  G01B5/008 ,  G01B11/002 ,  G01B11/005 ,  G01S17/42 ,  G01S17/875

摘要： The invention pertains to a method for determining at least one spatial coordinate of a measurement point of a local structure (2,2') of an object (3), providing a mobile coordinate measuring machine (1), the method comprising at least placing the mobile coordinate measuring machine (1) on a surface (30) of the object (3) to be measured, approaching the measurement point with a sensing head (21,26), and determining at least one spatial coordinate of the at least one measurement point, characterized by establishing a defined spatial relation between the coordinate measuring machine (1) and the local structure (2,2'), wherein the defined spatial relation is established by means of a mechanical fixation of the coordinate measuring machine (1) to the object (3), and/or a continuous determination of position and orientation of the coordinate measuring machine (1) relative to the object (3). The invention furthermore pertains to a mobile coordinate measuring machine (1) and a computer programme product for execution of said method.

摘要翻译： 本发明涉及一种用于采矿确定性的对象（3）的局部结构（2,2“）的测量点中的至少一个空间坐标的方法，提供了一个移动坐标测量机（1），该方法至少将包含 移动坐标（1）所述对象（3）的表面（30）上测量机进行测量时，接近所述测量点为中心的传感头（21,26），和确定性挖掘的所述至少一个中的至少一个空间坐标 测量点，通过建立一个之间限定的空间关系为特征的坐标测量机（1）和局部结构（2,2“），所述worin限定的空间关系是由坐标测量机的机械固定手段（1）成立 到所述对象（3），和/或连续测定的位置和坐标测量机（1）相的取向物体（3）。 本发明进一步更涉及一种移动坐标测量机（1）和计算机程序产品，用于所述方法的执行。

公开(公告)号：EP2998696A1

公开(公告)日：2016-03-23

申请号：EP14185377.0

申请日：2014-09-18

申请人： Hexagon Technology Center GmbH

发明人： Petterson, Bo ,  Jordil, Pascal

IPC分类号： G01B21/04

CPC分类号： G01B5/008 ,  G01B21/042 ,  G01B21/045

摘要： Method for compensating a measurement error related to a measurement of a desired measuring point at an object to be measured with a coordinate measuring machine comprising a touch probe, the method comprising providing a three dimensional reference body of known shape and dimension at a known position in the measuring volume of the coordinate measuring machine, defining multiple reference points to be measured at the reference body, touching the reference body with the touch probe in defined touching directions (11,12) according to the multiple reference points and thereby determining positions for the multiple reference points, and deriving a lobing error information (10) for the touch probe based on the known shape and dimensions of the reference body and the determined positions of the reference points, the lobing error information providing error values related to respective touching directions (11,12) for the touch probe. Furthermore, a measurement of the desired measuring point at the object to be measured performed with the touch probe is compensated by means of assigning a corresponding touching direction (11,12) to a defined measuring direction, the measuring direction being defined by a direction of approaching the object with the touch probe, and considering the error value related to the assigned touching direction (11,12).

摘要翻译： 一种用于通过包括探针的坐标测量机在待测物体上测量所需测量点的方法，该方法包括在已知位置上提供已知形状和尺寸的三维参考体 坐标测量机的测量体积，定义在参考体处要测量的多个参考点，根据多个参考点，在触摸方向（11,12）上用触摸探头触摸参考体，从而确定坐标测量机的位置 多个参考点，并且基于参考体的已知形状和尺寸以及确定的参考点的位置导出用于触摸探针的波峰误差信息（10），提供与各个触摸方向相关的误差信息 11,12）用于探针。 此外，利用触摸探针进行的被测量物体的期望测量点的测量是通过将相应的触摸方向（11,12）分配给所定义的测量方向来进行补偿的，测量方向由 使用触摸探头接近物体，并考虑与分配的触摸方向相关的误差值（11,12）。

公开(公告)号：EP2899501A1

公开(公告)日：2015-07-29

申请号：EP15151841.2

申请日：2012-12-06

申请人： Hexagon Technology Center GmbH

发明人： Pettersson, Bo ,  Siercks, Knut ,  Voit, Eugen ,  Hinderling, Jürg ,  Zebhauser, Benedikt ,  Schneider, Klaus ,  Jordil, Pascal

IPC分类号： G01B21/04 ,  G01B11/00 ,  G05B19/401 ,  G06F3/00 ,  G06F3/03

CPC分类号： G01B11/005 ,  G01B21/047 ,  G05B19/401 ,  G05B2219/37193 ,  G05B2219/37237 ,  G06F3/005 ,  G06F3/0304 ,  Y02P90/265

摘要： A coordinate measuring machine (1,2) for determining at least one spatial coordinate of a measurement point of an object (15) to be measured, comprising a measuring volume representing a particular volume as to a design of the coordinate measuring machine (1,2), inside which at least one spatial coordinate of the measurement point is determinable, characterised by a first camera (50-52), wherein the camera (50-52) is adapted to be directed to the measuring volume for providing at least a first image of at least a first part of the measuring volume, and a controller, adapted to control a drive mechanism on the basis of image data derived from the at least first image and adapted for execution of a measuring mode for precisely determining the at least one spatial coordinate of the object to be measured, on execution of which a probe head (13) is guided relatively to the object (15) on a predefined measurement path and the at least one spatial coordinate of the measurement point of the object is derived from a measurement to the measurement point, and an object-determination functionality, on execution of which surface data related to a surface of a body inside the measuring volume is derived from at least the first image by image processing as the image data and controlling information is derived depending on the surface data for controlling the guidance of the probe head (13), wherein the object-determination functionality is executed in advance of the measuring mode and the controlling information is provided for execution of the measuring mode.

摘要翻译： 1.一种坐标测量机（1,2），用于确定要测量的物体（15）的测量点的至少一个空间坐标，包括表示关于坐标测量机（1）的设计的特定体积的测量体积， 2），其中所述测量点的至少一个空间坐标是可确定的，其特征在于第一相机（50-52），其中所述相机（50-52）适于被引导到所述测量体积，以提供至少一个 至少测量体积的第一部分的第一图像和控制器，其适于基于从至少第一图像导出的图像数据来控制驱动机构，并适于执行用于精确地确定至少 探测头（13）在预定义的测量路径上相对于对象（15）被引导到被测物体的一个空间坐标，并且测量点的测量点的至少一个空间坐标 ject是从测量点导出的，并且在执行与测量体积内的身体表面相关的表面数据的对象确定功能从至少第一图像通过图像处理导出为图像数据 并且根据用于控制探头（13）的引导的表面数据导出控制信息，其中在测量模式之前执行对象确定功能，并且提供控制信息以执行测量模式。

公开(公告)号：EP2696167A1

公开(公告)日：2014-02-12

申请号：EP12179722.9

申请日：2012-08-08

申请人： Hexagon Technology Center GmbH

发明人： Jordil, Pascal

IPC分类号： G01C9/00 ,  G01C9/14 ,  G01C15/00

CPC分类号： G01C15/008 ,  G01C9/00 ,  G01C9/14 ,  G01C15/00

摘要： The invention relates to an inclination sensor for determining an inclination of an object with respect to a reference vector (75) of a reference coordinate system, comprising a tilt detector (18, 28) for determining gravity vector data of a local gravity vector (65), characterized by a position determination device (19, 29) for determining a position of the tilt detector (18, 28) and generating position data corresponding to the position of the tilt detector (18, 28), and a calculation unit (17, 27) comprising means for providing, based on the position data, position-related vertical deflection data, the vertical deflection data comprising information about a relation between the local gravity vector (65) and the reference vector (75), and calculation means (172) for calculating reference vector data based on the vertical deflection data and on the gravity vector data, wherein an inclination of the object with respect to the reference vector (75) is derivable from the reference vector data, to a surveying system comprising such an inclination sensor and to a method for determining the inclination of the object with respect to the reference vector (75).

摘要翻译： 本发明涉及一种用于确定物体相对于参考坐标系的参考矢量（75）的倾斜度的倾斜传感器，包括用于确定局部重力矢量（65）的重力矢量数据的倾斜检测器（18,28） ），其特征在于，用于确定所述倾斜检测器（18,28）的位置并产生与所述倾斜检测器（18,28）的位置相对应的位置数据的位置确定装置（19,29），以及计算单元（17,28） ，27）包括用于基于所述位置数据提供与位置相关的垂直偏转数据的装置，所述垂直偏转数据包括关于所述局部重力矢量（65）和所述参考矢量（75）之间的关系的信息，以及计算装置 172），用于基于垂直偏转数据和重力矢量数据计算参考矢量数据，其中物体相对于参考矢量（75）的倾斜度可从参考矢量 数据，包括这种倾斜传感器的测量系统和用于确定对象相对于参考矢量（75）的倾斜度的方法。

公开(公告)号：EP3054265A1

公开(公告)日：2016-08-10

申请号：EP15153841.0

申请日：2015-02-04

申请人： Hexagon Technology Center GmbH

发明人： Jordil, Pascal ,  Stigwall, Johan

IPC分类号： G01B21/04 ,  G01B11/00 ,  G06T7/00

CPC分类号： G01B11/005 ,  G01B21/047

摘要： The present invention relates to a coordinate measuring machine CMM (22), comprising a carrier (12, 30, 31) as a support and positioning structure for an end-effector (40) as a target, the end-effector (40) being movable in at least three degrees of freedom and positionable by the carrier (12, 30, 31), a stationary metrology table (35) as a support for a possible target object, and a control unit controlling the moving of the end-effector (40) by the carrier (12, 30, 31). The CMM further comprises at least one, in particular at least two, imaging detectors (33) for measuring and determining in six degrees of freedom a position of the possible target object, and an analysing unit for processing electronic signals and/or data delivered by the imaging detectors (33). According to the invention, the imaging detectors (33) are firmly mounted to the metrology table (35), mechanically de-coupled from the carrier (12, 30, 31).

摘要翻译： 坐标测量机CMM（22）本发明涉及一种坐标测量机CMM（22），其包括作为作为目标的末端执行器（40）的支撑和定位结构的载体（12,30,31），所述末端执行器（40）是 可移动至少三个自由度并且可由载体（12,30,31）定位，作为用于可能的目标物体的支撑物的固定计量台（35）和控制末端执行器的移动的控制单元 40）由载体（12,30,31）。 CMM进一步包括至少一个，特别是至少两个成像检测器（33），用于测量和确定可能目标对象的位置的六个自由度;以及分析单元，用于处理电子信号和/或由 成像检测器（33）。 根据本发明，成像检测器（33）牢固地安装在计量表（35）上，与载体（12,30,31）机械地脱耦合。

公开(公告)号：EP2930462A1

公开(公告)日：2015-10-14

申请号：EP14163929.4

申请日：2014-04-08

申请人： Hexagon Technology Center GmbH

发明人： Jordil, Pascal

IPC分类号： G01B21/04

CPC分类号： G01B11/005 ,  G01B21/047 ,  G06K9/52 ,  G06T7/73 ,  H04N7/18

摘要： Method for providing information about a sensor chain of a coordinate measuring machine (1), the coordinate measuring machine (1) comprises a drive mechanism for moving a tool carrier (13) relative to a base (5) for approaching a measurement point. The CMM also comprises the sensor chain carried by the tool carrier (13) and comprising an arrangement of sensor chain components providing a particular sensor configuration for measuring the measurement point, and a camera (20,21) for providing an image of at least a part of the sensor chain. The method further comprises capturing an image of at least a part of the sensor chain, deriving at least one sensor chain property from the image by image processing, comparing the sensor chain property with reference data which relates to a set of known sensor chain components and providing an output relating to the comparison of the sensor chain property with the reference data.

摘要翻译： 用于提供关于的传感器链信息的方法，坐标测量机（1），该坐标测量机（1）包括用于工具架（13）相对移动的基座（5），用于接近测量点的驱动机构。 所述CMM所以包括所述传感器链由传感器链组件，用于测量所述测量点提供特定的传感器配置的排列工具架（13）和包含携带，并且一个照相机（20,21），用于提供至少一个的图像 传感器链的一部分。 该方法还包括捕获至少传感器链的一部分的图像，通过图像处理从图像导出至少一个传感器链特性，比较基准数据的传感器链属性其涉及一组已知传感器链组件和 提供关于输出涉及与参考数据中的传感器链属性的比较。

公开(公告)号：EP2705935A1

公开(公告)日：2014-03-12

申请号：EP12183806.4

申请日：2012-09-11

申请人： Hexagon Technology Center GmbH

发明人： Jordil, Pascal ,  Pettersson, Bo ,  Siercks, Knut

IPC分类号： B25J9/16 ,  G01B11/00

CPC分类号： G01B11/005 ,  B25J9/1623 ,  B25J9/1697 ,  G01B5/0004 ,  G05B2219/39052

摘要： A coordinate measuring machine CMM (10) and a method for gauging a target object by means of said CMM (10). The CMM (10) comprises a Delta Robot (12) as a support structure having an end effector (28) movable within a motion zone, a tool-holder (31) fixed to the end effector (28) configured to accommodate various measurement probes (30, 30') and especially a camera (30), wherein the camera (30) comprising an optics having a field of view encompassing maximum 20% of a motion zone of the end effector (28). Further it comprises a control unit (38) controlling the motion of the end effector (28) within the motion zone and the motion of the measurement probe (30, 30') over a target object (35) in an "on the fly"-mode. Further it comprises an analysing unit (40) for processing electronic signals and/or data delivered by the measurement probe (30, 30'). The analysing unit (40) comprises especially storage means for storing said images and comprising a circuit unit for processing said images.

摘要翻译： 坐标测量机CMM（10）和用于通过所述CMM（10）测量目标物体的方法。 CMM（10）包括作为具有可在运动区域内移动的末端执行器（28）的支撑结构的Delta机器人（12），固定到末端执行器（28）的工具夹持器（31），其被构造成容纳各种测量探针 （30,30'）并且尤其是照相机（30），其中所述照相机（30）包括具有包括所述端部执行器（28）的运动区的最大20％的视场的光学器件。 此外，它包括控制单元（38），该控制单元（38）控制末端执行器（28）在运动区内的运动和测量探针（30,30'）在“即时”运动中在目标物体（35） -模式。 此外，它包括用于处理由测量探针（30,30'）传递的电子信号和/或数据的分析单元（40）。 分析单元（40）尤其包括用于存储所述图像的存储装置并且包括用于处理所述图像的电路单元。