US 10,648,792 B2Granted

Measuring system and measuring method

AssigneeCarl Zeiss Industrielle Messtechnik GmbH

InventorTobias Held

Life of this patent

Estimating the term…

Abstract

A measuring system having a measuring tool which includes a probe body and an optical marker, a camera for recording image data of the measuring tool, and an evaluation and control unit which is configured to evaluate the image data recorded by the camera and use the data to determine spatial position coordinates of the optical marker. The evaluation and control unit is also configured to calculate the deformation of the measuring tool due to external mechanical loading acting on the measuring tool, and to determine spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation.

Claims15

Dependent claims

Measuring system comprising:

a measuring tool that comprises a probe body and an optical marker;
a camera for recording image data of the measuring tool;
and
an evaluation and control unit that is configured to evaluate the image data captured by the camera and to determine spatial position coordinates of the optical marker based on the image data,
wherein:
the evaluation and control unit is configured to calculate a deformation of the measuring tool due to external mechanical loading acting on the measuring tool, and to determine spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation,
the evaluation and control unit is configured to calculate the deformation of the measuring tool based on a mechanical substitute model, in which the measuring tool is modelled as a mechanical system that comprises at least two rigid bodies and a first elastic node that connects the two rigid bodies to one another,
the deformation is modelled in the mechanical substitute model as a translation and/or rotation of the two rigid bodies in relation to one another and is calculated using the following equation:
{right arrow over (u)}=N*{right arrow over (b)},
where {right arrow over (u)} is a deformation vector which describes the deformation of the measuring tool in vector notation,
where {right arrow over (b)} describes the external mechanical loading in vector notation,
where N is a compliance matrix that describes compliance properties of the first elastic node as a result of the external mechanical loading, and
the spatial position coordinates of the probe body are calculated uisng the following equation:
p
→
=
p
→
s
+
M
s
*
(
p
N
⁢
⁢
1
→
+
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
)
with
⁢
⁢
u
→
=
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
δ
rx
δ
ry
δ
rz
)
,
⁢
where
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
=
R
z
⁡
(
δ
rz
)
*
R
y
⁡
(
δ
ry
)
*
R
x
⁡
(
δ
rx
)
*
t
N
⁢
⁢
1
→
+
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
)
,
where {right arrow over (p)} describes the spatial position coordinates of the probe body in vector notation in a fixed inertial system,
where {right arrow over (p)}s describes the spatial position coordinates of the optical marker in vector notation in the fixed inertial system,
where Ms is a transformation matrix for a transformation of vectors from a body-fixed coordinate system that is fixed with respect to the measuring tool, into the fixed inertial system,
where {right arrow over (pN1)} describes spatial position coordinates of the first elastic node in vector notation in the body-fixed coordinate system,
where {right arrow over (tN1)} describes a vector of the first elastic node in relation to the probe body in the body-fixed coordinate system,
where v0x, v0y, v0z are translation components of the deformation vector {right arrow over (u)} and δrx, δry, δrz are rotation components of the deformation vector {right arrow over (u)}, and
where Rx, Ry, Rz describe rotation matrices for a rotation of the rotation components δrx, δry, δrz in Euclidean space.

144 more elements

A measurement method comprising:

recording image data of a measuring tool, wherein the measuring tool comprises a probe body and an optical marker;
evaluating the recorded image data;
determining spatial position coordinates of the optical marker based on the evaluated image data;
calculating a deformation of the measuring tool due to external mechanical loading acting on the measuring tool, wherein:
the deformation is calculated based on a mechanical substitute model, in which the measuring tool is modelled as a mechanical system that comprises at least two rigid bodies and a first elastic node that connects the two rigid bodies to one another, and
the deformation is modelled in the mechanical substitute model as a translation and/or rotation of the two rigid bodies in relation to one another and is calculated using the following equation:
{right arrow over (u)}=N*{right arrow over (b)},
where {right arrow over (u)} is a deformation vector that describes the deformation of the measuring tool in vector notation,
where {right arrow over (b)} describes the external mechanical loading in vector notation, and
where N is a compliance matrix that describes compliance properties of the first elastic node as a result of the external mechanical loading;
and
determining spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation,
wherein the spatial position coordinates of the probe body are calculated by means of the following equation:
p
→
=
p
→
s
+
M
s
*
(
p
N
⁢
⁢
1
→
+
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
)
⁢
⁢
with
⁢
⁢
u
→
=
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
δ
r
⁢
⁢
x
δ
r
⁢
⁢
y
δ
rz
)
,
⁢
where
⁢
⁢
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
=
R
z
⁡
(
δ
rz
)
*
R
y
⁡
(
δ
r
⁢
⁢
y
)
*
R
x
⁡
(
δ
rx
)
*
t
N
⁢
⁢
1
→
+
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
)
,
where {right arrow over (p)} describes the spatial position coordinates of the probe body in vector notation in a fixed inertial system,
where {right arrow over (p)}s describes the spatial position coordinates of the optical marker in vector notation in the fixed inertial system,
where Ms is a transformation matrix for a transformation of vectors from a body-fixed coordinate system, which is fixed with respect to the measuring tool, into the fixed inertial system, where {right arrow over (pN1)} describes spatial position coordinates of the first elastic node in vector notation in the body-fixed coordinate system,
where {right arrow over (tN1)} describes a vector of the first elastic node in relation to the probe body in the body-fixed coordinate system,
where v0x, v0y, v0z are translation components of the deformation vector {right arrow over (u)} and δrx, δry, δrz are rotation components of the deformation vector {right arrow over (u)}, and
where Rx, Ry, Rz describe rotation matrices for a rotation of the rotation components δrx, δry, δrz in Euclidean space.

156 more elements

A non-transitory computer readable storage medium encoded with a computer program that, when executed by a computer for controlling a measuring system including (i) a measuring tool having a probe body and an optical marker, and (ii) a camera for recording image data of the measuring tool, causes the computer to perform steps comprising:

evaluating the image data of the measuring tool;
determining spatial position coordinates of the optical marker based on the evaluated image data;
calculating a deformation of the measuring tool due to external mechanical loading acting on the measuring tool, wherein:
the deformation is calculated based on a mechanical substitute model, in which the measuring tool is modelled as a mechanical system that comprises at least two rigid bodies and a first elastic node that connects the two rigid bodies to one another, and
the deformation is modelled in the mechanical substitute model as a translation and/or rotation of the two rigid bodies in relation to one another and is calculated using the following equation:
{right arrow over (u)}=N*{right arrow over (b)},
where {right arrow over (u)} is a deformation vector that describes the deformation of the measuring tool in vector notation,
where {right arrow over (b)} describes the external mechanical loading in vector notation, and
where N is a compliance matrix that describes compliance properties of the first elastic node as a result of the external mechanical loading;
and
determining spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation, wherein the spatial position coordinates of the probe body are calculated using the following equation:
p
→
=
p
→
s
+
M
s
*
(
p
N
⁢
⁢
1
→
+
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
)
⁢
⁢
with
⁢
⁢
u
→
=
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
δ
r
⁢
⁢
x
δ
r
⁢
⁢
y
δ
rz
)
,
⁢
where
⁢
⁢
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
=
R
z
⁡
(
δ
rz
)
*
R
y
⁡
(
δ
r
⁢
⁢
y
)
*
R
x
⁡
(
δ
rx
)
*
t
N
⁢
⁢
1
→
+
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
)
,
where {right arrow over (p)} describes the spatial position coordinates of the probe body in vector notation in a fixed inertial system,
where {right arrow over (p)}s describes the spatial position coordinates of the optical marker in vector notation in the fixed inertial system,
where Ms is a transformation matrix for a transformation of vectors from a body-fixed coordinate system that is fixed with respect to the measuring tool, into the fixed inertial system,
where {right arrow over (pN1)} describes spatial position coordinates of the first elastic node in vector notation in the body-fixed coordinate system,
where {right arrow over (tN1)} describes a vector of the first elastic node in relation to the probe body in the body-fixed coordinate system,
where v0x, v0y, v0z are translation components of the deformation vector {right arrow over (u)} and δrx, δry, δrz are rotation components of the deformation vector {right arrow over (u)}, and
where Rx, Ry, Rz describe rotation matrices for a rotation of the rotation components δrx, δry, δrz in Euclidean space.

155 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/713,787Filed 25 Sep 2017
Priority: DE 10 2016 118 62030 Sep 2016
Published: US 2018/0094913 A15 Apr 2018
Granted: 12 May 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification8 codes

G01B 11/007
Coordinate measuring machines: feeler heads therefor
G01B 5/016
Contact-making feeler heads therefor: constructional details of contacts
G01B 11/002
Measuring arrangements characterised by the use of optical techniques: for measuring two or more coordinates
G01B 21/042
By measuring coordinates of points: calibration or calibration artifacts

Family

US 2018/0094913 A1Pre-grant publication · published 5 Apr 2018
US 10,648,792 B2This patent

From the US filing history. Foreign family members aren’t listed.

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Abstract

Measuring system comprising:

a measuring tool that comprises a probe body and an optical marker;
a camera for recording image data of the measuring tool;
and
an evaluation and control unit that is configured to evaluate the image data captured by the camera and to determine spatial position coordinates of the optical marker based on the image data,
wherein:
the evaluation and control unit is configured to calculate a deformation of the measuring tool due to external mechanical loading acting on the measuring tool, and to determine spatial position coordinates of the probe body based on the spatial position coordinates of the optical marker and the calculated deformation,
the evaluation and control unit is configured to calculate the deformation of the measuring tool based on a mechanical substitute model, in which the measuring tool is modelled as a mechanical system that comprises at least two rigid bodies and a first elastic node that connects the two rigid bodies to one another,
the deformation is modelled in the mechanical substitute model as a translation and/or rotation of the two rigid bodies in relation to one another and is calculated using the following equation:
{right arrow over (u)}=N*{right arrow over (b)},
where {right arrow over (u)} is a deformation vector which describes the deformation of the measuring tool in vector notation,
where {right arrow over (b)} describes the external mechanical loading in vector notation,
where N is a compliance matrix that describes compliance properties of the first elastic node as a result of the external mechanical loading, and
the spatial position coordinates of the probe body are calculated uisng the following equation:
p
→
=
p
→
s
+
M
s
*
(
p
N
⁢
⁢
1
→
+
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
)
with
⁢
⁢
u
→
=
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
δ
rx
δ
ry
δ
rz
)
,
⁢
where
f
⁡
(
u
→
,
t
N
⁢
⁢
1
→
)
=
R
z
⁡
(
δ
rz
)
*
R
y
⁡
(
δ
ry
)
*
R
x
⁡
(
δ
rx
)
*
t
N
⁢
⁢
1
→
+
(
v
0
⁢
⁢
x
v
0
⁢
⁢
y
v
0
⁢
⁢
z
)
,
where {right arrow over (p)} describes the spatial position coordinates of the probe body in vector notation in a fixed inertial system,
where {right arrow over (p)}s describes the spatial position coordinates of the optical marker in vector notation in the fixed inertial system,
where Ms is a transformation matrix for a transformation of vectors from a body-fixed coordinate system that is fixed with respect to the measuring tool, into the fixed inertial system,
where {right arrow over (pN1)} describes spatial position coordinates of the first elastic node in vector notation in the body-fixed coordinate system,
where {right arrow over (tN1)} describes a vector of the first elastic node in relation to the probe body in the body-fixed coordinate system,
where v0x, v0y, v0z are translation components of the deformation vector {right arrow over (u)} and δrx, δry, δrz are rotation components of the deformation vector {right arrow over (u)}, and
where Rx, Ry, Rz describe rotation matrices for a rotation of the rotation components δrx, δry, δrz in Euclidean space.

144 more elements

Facts

Application

15/713,787Filed 25 Sep 2017

Priority

DE 10 2016 118 62030 Sep 2016

Published

US 2018/0094913 A15 Apr 2018

Granted

12 May 2020

Term ends

Not estimatedThe source records don’t support an estimate.

Classification8 codes

G01B 11/007
Coordinate measuring machines: feeler heads therefor
G01B 5/016
Contact-making feeler heads therefor: constructional details of contacts
G01B 11/002
Measuring arrangements characterised by the use of optical techniques: for measuring two or more coordinates
G01B 21/042
By measuring coordinates of points: calibration or calibration artifacts