Apparatus and method for measuring, inspecting or machining objects

A method for controlling an apparatus for measuring, inspecting and/or machining objects, wherein the apparatus comprises

• a mobile platform for moving the apparatus through a spatial region,
• a kinematic system attached to the mobile platform, and an instrument head attached to the kinematic system, wherein the kinematic system is configured to move the instrument head relative to the mobile platform, and wherein the apparatus comprises at least one sensor attached to the mobile platform or the kinematic system and a high-resolution camera attached to the mobile platform or the kinematic system, wherein the method comprises:
• determining a first estimation of a pose of a target object on the basis of signals from the at least one sensor, the first estimation having a first precision,
• controlling the mobile platform on the basis of the first estimation to move to the target object,
• determining a second estimation of the pose of the target object on the basis of signals from the high-resolution camera and the first estimation, the second estimation having a second precision greater than the first precision,
• wherein determining the first estimation and/or determining the second estimation are/is additionally effected on the basis of a digital representation of the target object, and
• controlling the kinematic system in order to position the instrument head at the target object on the basis of the second estimation, and
• tracking the pose of the target object during the movement of the mobile platform and/or during a movement of the kinematic system.

An apparatus for measuring, inspecting and/or machining objects, comprising:

• a mobile platform for moving the apparatus through a spatial region,
• a kinematic system attached to the mobile platform, and an instrument head attached to the kinematic system, wherein the kinematic system is configured to move the instrument head relative to the mobile platform,
• at least one sensor, and
• a controller configured:
• to determine a first estimation of a pose of a target object on the basis of signals from the at least one sensor, the first estimation having a first precision,
• to control the mobile platform on the basis of the first estimation to move to the target object,
• to determine a second estimation of the pose of the target object on the basis of signals from the at least one sensor and to control the kinematic system, the second estimation having a second precision greater than the first precision, wherein determining the first estimation and/or determining the second estimation are/is additionally effected on the basis of a digital representation of the target object without using artificial markers, and
• to position the instrument head at the target object on the basis of the second estimation, wherein the controller is further configured to track the pose of the target object during the movement of the mobile platform and/or during a movement of the kinematic system.