Measurement method for a surface-measuring measuring machine

Patent metadata

Field	Value
Publication number	US-11796314-B2
Application number	US-202217888266-A
Country	US
Kind code	B2
Filing date	Aug 15, 2022
Priority date	Mar 26, 2010
Publication date	Oct 24, 2023
Grant date	Oct 24, 2023

Abstract

Measurement method where a code projection which is dependent on a three-dimensional position of a code carrier relative to a sensor arrangement is generated on a sensor arrangement, and at least part of the code projection is captured. An angular position of the code carrier with reference to the defined axis of rotation is ascertained and a current measurement position of the measurement component relative to a base is determined, wherein, a position value for at least one further degree of freedom of the code carrier relative to the sensor arrangement is ascertained on the basis of the code projection and is taken into account to determine the current measurement position, and a relative position of the connecting element with respect to the holder and/or the deformation thereof is determined from the position value in the form of a change in shape or size.

First claim

What is claimed is:

1. A connection arrangement for a surface-surveying measuring machine, comprising:
a connection element for indirectly or directly connecting a base to a measurement component for producing and maintaining a measurement connection to a surface to be measured, and
at least one rotary encoder designed to detect the rotation of the at least one connection element with respect to a receptacle and in each case has a code carrier and a sensor arrangement, wherein code carrier and sensor arrangement are rotatable with respect to one another about a defined axis of rotation as a first degree of freedom, wherein:
the rotary encoder is designed for explicitly determining, in a manner effected from the code projection being dependent on the three-dimensional position of the code carrier, and providing at least one position value with regard to at least one of five further degrees of freedom of the three-dimensional position of the code carrier relative to the sensor arrangement, namely:
a deflection of the code carrier in a radial direction relative to the axis of rotation, and/or
a deflection of the code carrier in the direction of the axis of rotation, and/or
a tilting of the code carrier with respect to the axis of rotation,

an evaluation unit designed to use the position value to determine a relative position, corresponding to the further degree of freedom of the code carrier, of the connecting element relative to a holder and/or a deformation of the connecting element as a shape or size change,
whereby the evaluation unit is designed to effect a division into deformation- and relative attitude-related components on the basis of the orientation of a further connecting element connected to the holder for the at least one encoder.

2. The connection arrangement as claimed in claim 1 , wherein:
the relative position and/or deformation are quantitatively determined.

3. The connection arrangement as claimed in claim 1 , wherein:
the evaluation unit is designed to relate changes in position of the code carrier which go beyond its rotation to the relative position and/or the deformation of the connection element.

4. The connection arrangement as claimed in claim 1 , wherein:
rotational position, deflection and tilting and thus the position of the code carrier relative to the sensor arrangement in six degrees of freedom are determined for the at least one rotary encoder.

5. The connection arrangement as claimed in claim 1 , wherein:
the sensor arrangement of the rotary encoder has at least four read heads arranged in a manner offset at different angles with respect to one another in a circumferential direction.

6. A surface-surveying measuring machine for determining a measurement position comprising a connection arrangement as claimed in claim 1 .

7. The surface-surveying measuring machine as claimed in claim 6 , wherein the evaluation unit is designed to calculate the current measurement position of the measurement component with respect to the base whereby the at least one provided position value is used as a further current measurement position variable in addition to the rotational position.

8. The surface-surveying measuring machine as claimed in claim 7 , wherein:
the at least one provided position value is directly used as further current measurement position variable.

9. The surface-surveying measuring machine as claimed in claim 6 , wherein:
the evaluation unit is designed to link with one another connection element position measurement variables detected by individual connection element position measuring devices including the at least one provided position value with respect to the at least one rotary encoder and derive the measurement position of the measurement component therefrom.

10. The surface-surveying measuring machine as claimed in claim 6 , wherein:
the calculation of the measurement position is based on a model with geometrical and material-dependent variables of the connection element and/or on a calibration whereby known positions and orientations are assigned corresponding position values.

11. The surface-surveying measuring machine as claimed in claim 10 , wherein:
in case of a model, at least one variable determined by an additional sensor are supplementarily used in the model.

12. The surface-surveying measuring machine as claimed in claim 6 , wherein:
the further measurement position variable comprises a flexure of the at least one connection element being determined depending on a tilting of the code carrier with respect to the axis of rotation.

13. The surface-surveying measuring machine as claimed in claim 6 , wherein:
the measurement position is determined exclusively on the basis of the rotational position and at least one position value of the rotary encoder of the at least one connection element and/or the measuring machine comprises the at least one rotary encoder as single type of sensor exclusively used for determining the measurement position.

14. The surface-surveying measuring machine as claimed in claim 6 , wherein:
the machine is embodied as an articulated arm for determining a measurement position, wherein the articulated arm has a first end as base, a second end having the measurement component for producing and maintaining a contact-connecting or contactless measurement connection to the surface to be measured, and at least two arm elements as connection elements.

15. A connection arrangement for a surface-surveying measuring machine, comprising:
a connection element for indirectly or directly connecting a base to a measurement component for producing and maintaining a measurement connection to a surface to be measured, and
at least one rotary encoder designed to detect the rotation of the at least one connection element with respect to a receptacle and in each case has a code carrier and a sensor arrangement, wherein code carrier and sensor arrangement are rotatable with respect to one another about a defined axis of rotation as a first degree of freedom, wherein:
the rotary encoder is designed for explicitly determining, in a manner effected from the code projection being dependent on the three-dimensional position of the code carrier, and providing at least one position value with regard to at least one of five further degrees of freedom of the three-dimensional position of the code carrier relative to the sensor arrangement, namely:
a deflection of the code carrier in a radial direction relative to the axis of rotation, and/or
a deflection of the code carrier in the direction of the axis of rotation, and/or

a tilting of the code carrier with respect to the axis of rotation, an evaluation unit designed to use the position value to determine a relative position, corresponding to the further degree of freedom of the code carrier, of the connecting element relative to a holder and/or a deformation of the connecting element as a shape or size change,
wherein the rotary encoder has at least two code carriers which are arranged a distance apart and rotatable about the same axis of rotation and a respective at least one position value is determined for each of the code carriers on the basis of the respective code projection, and the evaluation unit is designed to determine the relative position of the connecting element relative to the holder and/or the deformation of the connecting element from the linkage of the position values of the two code carriers.

16. A surface-surveying measuring machine for determining a measurement position comprising a connection arrangement as claimed in claim 15 .

Assignees

• Leica Geosystems Ag

Inventors

• Lippuner Heinz
• Vokinger Urs
• Siercks Knut

Classifications

• G01C1/00 Primary

  Measuring angles · CPC title

• G01B21/045 Primary

  Correction of measurements (G01B9/02055 takes precedence) · CPC title

• G01D5/3473

  Circular or rotary encoders · CPC title

• G01D5/347 Primary

  using displacement encoding scales · CPC title

• G01B21/04

  by measuring coordinates of points · CPC title