Articulated arm coordinate measuring machine

Patent metadata

Field	Value
Publication number	US-10107619-B2
Application number	US-201514641363-A
Country	US
Kind code	B2
Filing date	Mar 7, 2015
Priority date	Mar 7, 2014
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

The invention relates to an articulated arm coordinate measurement machine for a measurement of geometrical features of an object, comprising a stationed end of the articulated arm, opposed to a movable end of the articulated arm being manually movable by a human operator. A measurement probe head is attachable to the movable end. It also comprises a graphical display unit located at the movable end of the articulated arm, in particular in vicinity of the probe head, in such a way that information provided by the display unit is visible for the operator during measurement. The display unit is built to provide an artificial view, which is graphically representing at least part of the object, in particular with respect to a point of view from or nearby the movable end of the arm so that the artificial view is similar to the operator's natural view of the object.

First claim

What is claimed is:

1. An articulated arm coordinate measurement machine for a measurement of geometrical features of an object, comprising:
a stationed end of the articulated arm, opposed to a movable end of the articulated arm being manually movable by a human operator, to which movable end;
a measurement probe head is attachable; and
a graphical display unit;
wherein the graphical display unit is located at the movable end of the articulated arm, in vicinity of the probe head, in such a way that information provided by the display unit is visible for the operator during measurement,
wherein the display unit is built to provide an artificial view, graphically representing at least part of the object with respect to a point of view from or nearby the movable end of the arm, wherein the artificial view is similar to the operators natural view of the object, and
wherein at least one desired point or region of the object to be measured is graphically marked on the artificial view by overlaying one or more indicative graphical elements.

2. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the display unit graphically represents at least part of the object with respect to a point of view from or nearby the movable end of the arm.

3. The articulated arm coordinate measurement machine according to claim 1 , wherein:
it comprises a graphical processing unit which is built to generate the artificial view of the object as a computer-rendered view based on known information with respect to the object, based on known CAD data of the object, which artificial view is augmented by the overlaid indicative graphical elements; and
which artificial view is based on the actual posture of the articulated arm coordinate measurement machine, wherein the rendered view substantially corresponds to the operators view of the object when moving the probe head, wherein the artificial view at least comprises a measurement range of the probe head.

4. The articulated arm coordinate measurement machine according to claim 1 , wherein:
it comprises a camera located in the vicinity of the movable end of the arm, which is built to provide a view of the object as a picture of at least part of the field of view of the camera with the field of view comprising a measurement range of the probe head preferably a live updated picture in form of a video, which picture is processed by a digital computation means and augmented by the overlaid indicative graphical elements.

5. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the display unit provides the artificial view comprising an overlay of the picture from the camera and the rendered view from the graphical processing unit, in such a way that the rendered view geometrically matches with the picture, based on information of cameras point of view determined by the arms posture and a known location of the object with respect to the arm or at least one measurement of the object by the articulated arm coordinate measurement machine.

6. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the graphical display unit comprises a graphical screen with a two dimensional array of pixels, located at the movable end, wherein the graphical screen is a foldable display which is preferably built to be stored within a segment of the arm or the probe head while not in use.

7. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the graphical display unit comprises a projector means located at the movable end, built to provide the artificial view as an optical projection of the indicative graphical elements in overlay onto and/or next to the object.

8. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the projection of the display unit is adopted according to an actual posture of the articulated arm coordinate measurement machine 1 and known information about the object, in such a way that the indicative graphical elements are projected at the desired locations onto the object, wherein distortions of the projected indicative graphical elements—according to a non-right-angled projection angle with respect to the projection target surface—are numerically compensated in the projected artificial view.

9. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the indicative graphical elements are provided in such a way to be substantially vertically by taking into account an actual posture of the articulated arm coordinate measurement machine 1 .

10. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the indicative graphical elements are provided in such a way to be substantially vertically by taking into account an actual posture of the articulated arm coordinate measurement machine 1 according to position and orientation information of the movable end of the arm determined by position sensors at articulations of the arm which are also used for the articulated arm coordinate measurement machine measurement.

11. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the indicative graphical elements comprise at least a graphical element for indicating at least one of:
a geometrical features on the object, a line and/or an area,
a desired direction to move the probe head,
a desired target point or area to be approached with the probe head,
an already measured point, line or area,
absolute and/or relative coordinate values of at least one already measured and/or to be measured points, lines or areas,
deviations from a desired value and/or its tolerance-band of at least one of already measured points, lines or areas,
a dimensioning of geometrical features of the object,
a measurement protocol of already measured geometrical features,
a forthcoming desired geometrical feature to be measured and by approaching which desired points or regions of the object this desired geometrical feature is to be measured, and
an area which can be interacted with by the operator to accomplish a desired functionality of the articulated arm coordinate measurement machine.

12. The articulated arm coordinate measurement machine according to claim 1 , wherein:
it provides a graphical user interface with means for receiving input from the operator for at least partly operating the articulated arm coordinate measurement machine, wherein at least one of the areas where an indicative graphical element is provided is built to receive the input, wherein the means for receiving input is a touch sensitive device such as a touch screen and/or a keyboard, wherein the graphical user interface provides an interactive visual user-guidance to the operator comprising locations of the desired point or region on the object and graphical guidance how to approach the desired point or region by the probe head and/or provide visual information related to a point, region or geometrical feature of the object previously approached by the probe head.

13. The articulated arm coordinate measurement machine according to claim 1 , wherein:
the display unit comprises means to transmit and receive data, wherein the display unit compromises a wireless communication unit for transceiving data, which provides a communication link to a computation means storing information of the objects geometry and/or the geometric feature to be measured by the articulated arm coordinate measurement machine.

14. A method of measuring geometrical features of an object by an articulated arm coordinate measurement machine, having a movable end

Assignees

• Hexagon Technology Ct Gmbh

Inventors

• Pettersson Bo

Classifications

• G01B11/007 Primary

  feeler heads therefor · CPC title

• G01B5/008

  using coordinate measuring machines · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• G06F3/0484

  for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range · CPC title

• G09G2354/00

  Aspects of interface with display user · CPC title