CN102597895A - 便携式关节臂坐标测量机以及集成环境记录器 - Google Patents
便携式关节臂坐标测量机以及集成环境记录器 Download PDFInfo
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Abstract
一种便携式关节臂坐标测量机(AACMM),其包括:可人工定位的关节臂;测量装置,附接到AACMM的第一端;以及电子电路,用于接收位置信号并且用于提供与测量装置的位置对应的数据。AACMM还包括环境记录器。该环境记录器包括用于输出参数的值的传感器、存储器、以及可由环境记录器执行以实现如下方法的逻辑。该方法包括:监测参数的值;以及确定参数的值在可编程阈值之外。响应于参数的值被确定为在可编程阈值之外,将参数的值和时间戳存储在存储器中。将存储器的内容传送至电子电路。
Description
相关申请的交叉引用
本申请要求2010年1月20日提交的临时申请第61/296,555号的权益,其全部内容通过引用合并于此。
背景技术
本公开内容涉及一种坐标测量机,更特别地,涉及一种具有集成环境记录器的便携式关节臂坐标测量机。
已经发现便携式关节臂坐标测量机(AACMM)广泛用于制造或生产零件,其中,在制造或生产(例如,机械加工)零件的各个阶段期间需要快速且精确地检验零件的尺寸。便携式AACMM代表对已知的、静止或固定的、成本高的且相对难以使用的测量装置的巨大改进,特别是在对相对复杂的零件进行尺寸测量所花费的时间量方面。通常,便携式AACMM的用户沿着要测量的零件或物体的表面仅引导探针。然后,测量数据被记录并提供给用户。在一些情况下,将数据以可视形式(例如,计算机屏幕上的三维(3-D)形式)提供给用户。在其他情况下,将数据以数字形式提供该用户,例如,当测量孔的直径时,在计算机屏幕上显示文本“直径=1.0034”。
在共同转让的美国专利第5,402,582号(‘582)中公开了现有技术的便携式关节臂CMM的示例,其全部内容通过引用合并于此。‘582专利公开了一种3-D测量系统,该3-D测量系统包括在一端具有支撑基部(support base)而在另一端具有测量探针的手动操作的关节臂CMM。共同转让的美国专利第5,611,147号(‘147)(其全部内容通过引用合并于此)公开了一种类似的关节臂CMM。在‘147专利中,关节臂CMM包括若干特征,这些特征包括在探针端处的附加旋转轴,由此提供具有二-二-二或者二-二-三轴配置的臂(后一种情况为七轴臂)。
关于关节臂CMM的过去环境状况的信息在对关节臂CMM的系统诊断和修复期间是有帮助的。为了增强对关节臂CMM的过去操作环境的跟踪能力,需要用于测量并记录关节臂CMM的环境数据的环境监测系统。
发明内容
实施例是一种便携式关节臂坐标测量机(AACMM),包括可人工定位的关节臂,该臂具有相对的第一端和第二端,该臂包括连接的多个臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器。AACMM还包括:测量装置,附接到AACMM的第一端;以及电子电路,用于接收来自变换器的位置信号并且用于提供与测量装置的位置对应的数据。AACMM还包括与电子电路通信的环境记录器。该环境记录器包括用于输出参数的值的传感器、存储器以及可由环境记录器执行以实现如下方法的逻辑。该方法包括:监测参数的值;以及确定参数的值在可编程阈值之外。响应于参数的值被确定为在可编程阈值之外,将参数的值和时间戳存储在存储器中。将存储器中的内容传送至电子电路。
另一种实施例是一种实现便携式AACMM的方法。该方法包括:接收来自位于便携式AACMM上的传感器的参数的值。便携式AACMM包括可人工定位的关节臂,该臂具有相对的第一端和第二端。该臂包括连接的多个臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器。便携式AACMM还包括:测量装置,附接到便携式AACMM的第一端;以及电子电路,接收来自变换器的位置信号并且提供与测量装置的位置对应的数据。监测所接收到的参数的值并且确定参数的值在可编程阈值之外。响应于参数的值被确定为在可编程阈值之外,将参数的值和时间戳存储在位于环境记录器上的存储器中。将存储器中的内容传送至基部计算机处理器。
另一实施例是一种用于实现便携式AACMM的计算机程序产品。该计算机程序产品包括其上包含有计算机可读程序代码的存储介质,该计算机可读程序代码在由计算机执行时使得计算机实现以下方法。该方法包括:接收来自位于便携式AACMM上的传感器的参数的值。便携式AACMM包括可人工定位的关节臂,该臂具有相对的第一端和第二端。该臂包括连接的多个臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器。便携式AACMM还包括:测量装置,附接到便携式AACMM的第一端;以及电子电路,接收来自变换器的位置信号并且提供与测量装置的位置对应的数据。监测所接收到的参数的值并且确定参数的值在可编程阈值之外。响应于参数的值被确定为在可编程阈值之外,将参数的值和时间戳存储在位于环境记录器上的存储器中。将存储器中的内容传送至基部计算机处理器。
附图说明
现在参照附图示出了示例性实施例,这些示例性实施例不应该被解释为对于本公开内容的整个范围的限制,并且其中,在几幅图中以相似的方式对元件标号:
包括图1A和图1B的图1是其中具有本发明的各个方面的实施例的便携式关节臂坐标测量机(AACMM)的透视图;
包括合起来看的图2A-2D的图2是被用作根据实施例的、图1中的AACMM的一部分的电子装置的框图;
包括合起来看的图3A和图3B的图3是描述根据实施例的、图2中的电子数据处理系统的详细特征的框图;
图4是描述根据实施例的、图3中的环境记录器的详细特征的框图;
图5是描述根据实施例的、当AACMM断电时由环境记录器执行的处理的流程图;以及
图6是描述根据实施例的、当AACMM通电时由环境记录器执行的处理的流程图。
具体实施方式
根据示例性实施例提供了一种包括环境记录器的便携式关节臂坐标测量机(AACMM)。环境记录器提供了在解释AACMM的任何异常行为时有用的数据。环境记录器在各个时刻记录表示AACMM的历史的数据,这些时刻包括从制造过程的早期开始、在库存时间期间、在装运产品期间以及在最终用户的所在地处的后续操纵和使用期间。该数据可以经由在板上操作系统和显示器由AACMM的最终用户直接读取,或者该数据可以被提取并保存在另一个计算机上。环境记录器是位于AACMM上的独立的电池备用(battery backed)的环境监测系统。
可利用由环境记录器收集的数据来向用户发出关于事件的警报并且建议执行探针校准和/或单点关节性能测试(SPAT),以了解臂是否仍然在按照规范进行测量。由环境记录器收集的数据也在系统诊断和修复期间用来从环境条件方面确定AACMM的历史。环境条件包括但不限于:温度、湿度和冲击(例如由于AACMM正落下)。位于环境记录器上的传感器输出环境条件参数的值,并且这些环境条件参数的值定期地被记录。根据实施例,当AACMM通电时以及当AACMM断电时都发生定期记录。此外,或者替选地,响应于诸如在传感器处检测到诸如湿度极值(例如,由可编程阈值定义)的事件来记录环境条件参数的值。根据实施例,当AACMM通电时以及当AACMM断电时都发生对超过阈值的值的记录。
图1A和图1B以立体方式示出了根据本发明的各个实施例的便携式关节臂坐标测量机(AACMM)100,关节臂是一种类型的坐标测量机。如图1A和图1B所示,示例性AACMM 100可以包括六轴或七轴关节测量装置,该测量装置在一端处具有耦接至AACMM 100的臂部分104的测量探针壳体102。臂部分104包括通过第一组轴承盒(bearing cartridge)110(例如,两个轴承盒)而耦接至第二臂段108的第一臂段106。第二组轴承盒112(例如,两个轴承盒)将第二臂段108耦接至测量探针壳体102。第三组轴承盒114(例如,三个轴承盒)将第一臂段106耦接至位于AACMM 100的臂部分104的另一端的基部116。每组轴承盒110、112、114都提供了关节移动的多条轴。此外,测量探针壳体102可以包括AACMM 100的第七轴部分的轴(例如,AACMM 100的第七轴中包括确定测量装置(例如,探针118)的移动的编码器系统的盒)。在使用AACMM100时,基部116通常固定到作业表面。
每个轴承盒组110、112、114内的每个轴承盒典型地包括编码器系统(例如,光学角编码器系统)。编码器系统(即,变换器)提供对各个臂段106、108和对应的轴承盒组110、112、114的位置的指示,所有这些指示一起提供探针118相对于基部116的位置(以及因而由AACMM 100测量的物体在某个参照系中的位置—例如局部参照系或全局参照系)的指示。臂段106和臂段108可以由刚性适当的材料制成,诸如但不限于例如碳复合材料。具有六条或七条轴的关节移动(即,自由度)的便携式AACMM 100提供了下述优点:在提供可以由操作员容易地操纵的臂部分104的同时允许操作员将探针118放置在基部116周围的360°区域内的期望位置。然而,应该认识到,具有两个臂段106、108的臂部分104的图示仅为了示例性目的,而要求保护的本发明应该不限于此。AACMM 100可以具有通过轴承盒耦接在一起的任意数量的臂段(以及因而多于或少于六条或七条轴的关节移动或自由度)。
探针118可拆卸地安装至测量探针壳体102,测量探针壳体102连接到轴承盒组112。柄126可经由例如快速连接接口相对于测量探针壳体102移除。可以用另一种装置(例如,激光线探针、条形码阅读器)来替换柄126,由此提供允许操作员将不同的测量装置与同一AACMM 100一起使用的优点。在示例性实施例中,探针壳体102容纳可移除的探针118,可移除的探针118是接触式测量装置并且可以具有与要测量的物体物理接触的不同尖头118,包括但不限于:球状型探针、触敏型探针、弯曲型探针以及伸缩型探针。在其他实施例中,测量是例如由诸如激光线探针(LLP)的非接触装置来执行的。在实施例中,使用快速连接接口来以LLP替换柄126。其他类型的测量装置可以替换可移除的柄126以提供附加功能。这样的测量装置的示例包括但不限于例如一个或多个照明灯、温度传感器、热扫描仪、条形码扫描仪、投影仪、喷漆器、摄像装置等。
如图1A和图1B所示,AACMM 100包括可移除的柄126,其提供了使得在无需将测量探针壳体102从轴承盒组112移除的情况下改变附件或功能的优点。如以下针对图2更加详细描述的那样,可移除的柄126还可以包括使得能够与柄126交换电功率和数据的电连接器以及位于探针端的相应电子装置。
在各种实施例中,每组轴承盒110、112、114都使得AACMM 100的臂部分104能够绕多条旋转轴移动。如所述的,每个轴承盒组110、112、114都包括相应的编码器系统(诸如,例如光学角编码器),这些编码器系统均与例如臂段106、臂段108的相应旋转轴同轴地布置。光学编码器系统检测例如臂段106、臂段108中的每个臂段绕着相应轴的旋转(转体(swivel))或横向(铰链(hinge))移动,并且将信号传送至AACMM 100内的电子数据处理系统(如在本文中以下更加详细地描述的)。每个单独的原始编码器计数作为信号被分别发送至电子数据处理系统,其中,该计数进一步被处理成测量数据。不需要与AACMM 100自身分离的位置计算器(例如,串行盒(serial box)),如在共同转让的美国专利第5,402,582号(‘582)所公开的那样。
基部116可以包括附接装置或安装装置120。安装装置120使得AACMM 100能够可拆卸地安装至期望位置,诸如,例如检验台、机械加工中心、壁或地面。在一种实施例中,基部116包括柄部分122,该柄部分122提供便于操作员在AACMM 100正移动时保持基部116的位置。在一种实施例中,基部116还包括向下折叠以使用户接口(诸如显示屏)显露的可移动的盖部分124。
根据实施例,便携式AACMM 100的基部116包含或容纳包括以下两个主要部件的电子数据处理系统:基部处理系统,对来自AACMM 100内的各个编码器系统的数据以及用以支持三维(3-D)位置计算的表示其他臂参数的数据进行处理;以及用户接口处理系统,包括板上操作系统、触摸屏显示器以及驻留应用软件,该驻留应用软件使得在无需连接到外部计算机的情况下在AACMM 100内实现相对完整的计量功能。
基部116中的电子数据处理系统可以与编码器系统、传感器以及远离基部116的其他外围硬件(例如,可以安装至AACMM 100上的可移除的柄126的LLP)进行通信。支持这些外围硬件装置或结构元件的电子装置可以位于轴承盒组110、112、114的每一组中,其中,这些轴承盒组位于便携式AACMM 100内。
图2是根据实施例的用在AACMM 100中的电子装置的框图。图2所示的实施例包括电子数据处理系统210,该电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供功率的基部电源板206、蓝牙模块232以及基部倾斜板208。用户接口板202包括计算机处理器,该计算机处理器用于执行应用软件以实现此处描述的用户接口、显示和其他功能。
如图2所示,电子数据处理系统210经由一条或多条臂总线218与前述的多个编码器系统通信。在图2所描绘的实施例中,每个编码器系统均生成编码器数据,并且包括:编码器臂总线接口214、编码器数字信号处理器(DSP)216、编码器读取头接口234以及温度传感器212。诸如应变传感器的其他装置可以附接到臂总线218。
图2中还示出了与臂总线218通信的探针端电子装置230。探针端电子装置230包括探针端DSP 228、温度传感器212、柄/LLP接口总线240以及探针接口226,其中,在实施例中,该柄/LLP接口总线240经由快速连接接口与柄126或LLP 242连接。快速连接接口使得能够通过柄126对由LLP 242和其他附件使用的数据总线、控制线以及电源总线进行访问。在实施例中,探针端电子装置230位于AACMM 100上的测量探针壳体102中。在实施例中,可以从快速连接接口移除柄126,并且测量可以由经由柄/LLP接口总线240与AACMM 100的探针端电子装置230进行通信的激光线探针(LLP)242来执行。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,探针端电子装置239位于AACMM 100的测量探针壳体102中,以及编码器系统位于轴承盒组110、112、114中。探针接口226可以通过任何适合的通信协议与探针端DSP 228连接,通信协议包括可从Maxim Integrated Products有限公司商业购得的、实施通信协议236的产品。
图3是描述根据实施例的AACMM 100的电子数据处理系统210的详细特征的框图。在实施例中,电子数据处理系统210位于AACMM 100的基部116中,并且包括基部处理器板204、用户接口板202、基部电源板206、蓝牙模块232以及基部倾斜模块208。
在图3所示的实施例中,基部处理器板204包括其中所示的各个功能块。例如,基部处理器功能302被用来支持对来自AACMM 100的测量数据的收集,并且经由臂总线218和总线控制模块功能308来接收原始臂数据(例如,编码器系统数据)。存储器功能304存储程序和静态臂配置数据。基部处理器板204还包括用于与任何外部硬件装置或附件(诸如LLP 242)通信的外部硬件选项端口功能310。在图3所描绘的基部处理器板204的实施例中的功能中还包括实时时钟(RTC)与日志306、电池组接口(IF)316以及诊断端口318。
基部处理器板204还对与外部(主计算机)装置和内部(显示处理器202)装置的所有有线和无线数据通信进行管理。基部处理器板204具有下述能力:经由以太网功能320(例如,使用时钟同步标准(诸如,电气和电子工程师协会(IEEE)1588))与以太网通信,经由LAN功能322与无线局域网(WLAN)通信,以及经由并行-串行通信(PSC)功能314与蓝牙模块232通信。基部处理器板204还包括到通用串行总线(USB)装置312的连接。
基部处理器板204传送并收集原始测量数据(例如,编码器系统计数、温度读数)以处理成测量数据而无需任何预处理,如在前述‘582专利的串行盒中所公开的那样。基部处理器204经由RS485接口(IF)326将处理后的数据发送至用户接口板202上的显示处理器328。在实施例中,基部处理器204还将原始测量数据发送至外部计算机。
现在转向图3中的用户接口板202,在显示处理器328上执行的应用程序利用由基部处理器接收到的角度和位置数据以提供AACMM 100内的自治计量系统。应用程序可以在显示处理器328上执行以支持下述功能,功能诸如但不限于:结构元件的测量、引导和训练图形、远程诊断、温度校正、各个操作结构元件的控制、连接至各个网络以及显示所测量的物体。连同显示处理器328和液晶显示器(LCD)338(例如,触摸屏LCD)用户接口一起,用户接口板202还包括几种接口选项,这些接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、摄像装置端口340、音频/视频接口342、拨号/单元调制解调器344以及全球定位系统(GPS)端口346。
图3所示的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电源板206。基部电源板206还使用交流/直流(AC/DC)转换器358和电池充电器控制器360来向电子数据处理系统210提供功率。基部电源板206使用内部集成电路(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)356来与基部处理器板204通信。基部电源板206经由在基部电源板206中实现的输入/输出(I/O)扩展功能364连接至倾斜传感器与射频识别(RFID)模块208。
尽管示为分离部件,但在其他实施例中,全部部件或部件中的子集可以物理地位于不同位置和/或可以是以与图3所示的方式不同的方式结合的功能。例如,在一个实施例中,基部处理器板204和用户接口板202结合到一个物理板(physical board)中。
在实施例中,AACMM 100包括上述的集成电子数据处理系统210。电子数据处理系统210存在于板上并且与AACMM 100及其部件集成。基部处理器板204包括基部计算机处理器,该基部计算机处理器可以由图3所示的处理器功能302实现。基部计算机处理器响应于经由AACMM100接收到的请求来执行用户选择的功能,此处进一步描述这些功能。在示例性实施例中,功能是经由存储在例如图3中的存储器304中的且由基部计算机处理器执行的一个或多个应用程序(例如,逻辑)来执行的。在实施例中,可以经由图2所示的板上用户接口板202和/或外部计算机处理器在AACMM 100处接收请求,其中该外部计算机处理器远离AACMM 100并且直接通过USB通道、通过以太网网络或者以无线的方式(例如,通过无线LAN或蓝牙(TM)使能通道232)与AACMM 100通信,如图2总体所示。响应于请求,各种部件(例如,编码器214/216/234、探针端电子装置230和/或外围装置(例如LLP 242))被激活并且收集响应于请求的数据。利用数据导出的信息被返回到基部计算机处理器并且转发到目的地装置,如此处进一步描述的。
参照图4,总体示出了图3的环境记录器362的更详细的图。环境记录器362包括电池410,该电池410用于在无需外部电源的情况下在延长的时间段(例如,五到六个月)内向环境记录器362的部件提供电功率。可以使用尺寸适合于安装在环境记录器362上的并且能够在延长的时间段内保存电荷的任何电池来实现电池410。当AACMM 100连接到外部电源以工作时,对电池410充电,或者如果次级(可再充电的)AACMM电池组存在,则无论AACMM 100是否连接到外部电源,都从次级AACMM电池组对电池410充电。在环境记录器362中具有专用电池410使得环境记录器362在AACMM 100断电(例如,处于断电状态)时能够工作。
环境记录器362还包括用于保持日期和时间的时钟406。时钟406用于生成被记录的事件的时间戳以及用于测量时间间隔。实施例可以利用市场上可买到的时钟,诸如但不限于石英驱动时钟。
图4所描绘的环境记录器362包括各种传感器:碰撞传感器402、湿度传感器414以及温度传感器412。这些传感器是环境记录器362可以利用的传感器类型的示例并且并不旨在是限制性的,这是因为也可以实施其他类型的传感器(例如,振动传感器、大气压力传感器等)。
碰撞传感器402的实施例是由两个或更多个加速度计实现的:第一加速度计,被设计成检测并测量非常小的加速度(或振动);第二加速度计,被设计成检测并测量较大的加速度。当第一加速度计检测到运动时,第一加速度计指示第二加速度计开始进行并记录测量。如现有技术中公知的那样,加速度计根据重力(g力)测量加速度,并且因而,碰撞传感器402测量g力参数。此处描述的示例性实施例可以利用现有技术中公知的用于检测冲击或碰撞的任何适合的加速度计,包括但不限于三轴微电子机械系统(MEMS)、比重计、压阻式加速度计以及电容式加速度计。在实施例中,由第一加速度计检测到的、大于当前阈值(例如,2.5g)的g力值使得环境记录器362将g力的值连同时间戳一起存储。可以在制造或初始化AACMM 100期间更新该可编程的g力阈值。
由温度传感器412测量的参数是周围温度,而温度传感器412由市场上可买到的温度传感器来实现。在实施例中,大于45摄氏度或者小于5摄氏度的温度值使得环境记录器362将温度值连同时间戳一起存储。可以在制造或初始化AACMM 100期间更新该可编程温度阈值。
湿度传感器414测量湿度参数,而湿度传感器414由市场上可买到的湿度传感器来实现。在实施例中,大于80%或者小于20%的湿度值使得环境记录器362将湿度值连同时间戳一起存储。可以在制造或初始化AACMM 100期间更新该可编程湿度阈值。
处理器408控制可编程时间间隔以记录来自传感器的参数的值、控制对传感器的读取以及对将值和时间戳记录或存储到存储器404中进行控制。如此处所述,由传感器测量的参数的值使得环境记录器362在事件时刻(或者在事件不久之后)激活对参数值的记录,而不管该传感器的监测时间表。响应于正检测的事件,也可将警报(例如,经由LCD 338)发送至系统的操作员。此外,处理器408对将存储器404的内容定期传输到基部处理器板204进行控制。在实施例中,该传输是通过内部集成电路(I2C)总线进行的,而处理器由市场上可买到的处理器来实现。处理器408使用硬件指令、软件指令或者二者的组合来控制此处所描述的处理。
存储器404存储所记录的参数的值及其时间戳。此外,存储器404可存储与参数相关联的可编程阈值。存储器404由市场上可买到的存储器来实现,诸如但不限于:闪存以及直接随机存取存储器(SRAM)。存储器404的大小指示在要求将存储器404的内容传输到基部处理器板204之前可以在环境记录器362处存储多少参数值和时间戳。
图4示出了位于环境记录器362上的碰撞传感器402、存储器404、时钟406、处理器408、电池410、温度传感器412以及湿度传感器414。在替选的实施例中,这些元件的全部或子集位于AACMM 100上的环境记录器362的外部,其中,各元件之间的通信是经由网络或总线提供的。
在实施例中,环境记录器362利用多个处理器、时钟和传感器。最低级别系统连续地运行并且检测接着引出下一个处理器和传感器组的基本事件。当AACMM 100通电时,第三处理器开始运行以与环境记录器362接口,然后,第四处理器开始允许对数据的检索和显示。
参照图5,总体示出了描述当AACMM处于低功率模式(例如,断电、功率降低)时由环境记录器362执行的处理的流程图。在实施例中,通过位于处理器408中的计算机指令或逻辑来利于处理。在步骤502处,监测由位于环境记录器362上的传感器(诸如碰撞传感器402和/或温度传感器412)输出的参数的值。在步骤504处,确定是否已通过监测来检测到事件。当至少一个参数的值在可编程阈值之外,则发生了事件。当可编程时间间隔期满时,也发生了事件。如果没有检测到事件,如在步骤504处所确定的,则处理在步骤502处继续进行。否则,如果已检测到事件,则处理在步骤506处继续进行。
在实施例中,在执行监测和检测时,环境记录器362处于低功率模式,在该模式下,存储器404是不可存取的。在步骤506处,使环境记录器362进入高功率模式,以允许对存储器404的存取。在步骤508处,将(多个)参数的值连同时间戳一起存储至存储器404。在实施例中,在步骤508处,将正由传感器测量的所有参数的值都存储至存储器404。可替选地,当在步骤504处检测到的事件是可编程时间间隔已期满时,将所有参数值存储至存储器404,而当在步骤504处检测到的事件是已超过阈值时,仅将导致在步骤504处检测到事件的参数的值存储至存储器404。在实施例中,当在步骤504处检测到的事件是已超过阈值时,将步骤508重复可编程次数或者可编程的时间量。在实施例中,通过只有在参数的当前值不同于参数的先前值时才执行步骤508,节约了存储器404中的空间。在步骤510处,使环境记录器362进入低功率模式。在实施例中,低功率模式包括环境记录器362的不用于监测和检测的部分是断电的。然后,处理在步骤502处继续。
参照图6,总体示出了描述当AACMM通电时由环境记录器362执行的处理的流程图。在实施例中,通过位于处理器408中的计算机指令或逻辑来利于处理。在步骤602处,监测由位于环境记录器362上的传感器(诸如碰撞传感器402和/或温度传感器412)输出的参数的值。在步骤604处,确定是否已通过监测而检测到事件。当至少一个参数的值在可编程阈值之外时,发生了事件。当可编程时间间隔已期满时,也发生了事件。如果在步骤604处确定没有检测到事件,则处理在步骤608处继续进行。可替选地,如果确定检测到事件,则处理在步骤608处继续进行。
在步骤606处,将(多个)参数的值连同时间戳一起存储至存储器404。在实施例中,在步骤606处,将正由传感器测量的所有参数的值都存储至存储器404。可替选地,当在步骤604处检测到的事件是可编程时间间隔已期满时,则将所有参数值存储至存储器404,而当在步骤604处检测到的事件是已超过阈值时,仅将导致在步骤604处检测到事件的参数的值存储至存储器404。在实施例中,通过只有在参数的当前值不同于参数的先前值时才执行步骤606,节约了存储器404中的空间。在实施例中,当在步骤604处检测到的事件是已超过阈值时,将步骤606重复可编程次数或者可编程的时间量。
在步骤608处,确定是否应该将存储器404的内容传送到基部处理器板204。该确定是基于以下做出的:存储器404中还剩下多少空间和/或自从上一次将存储器404的内容传送至基部处理器板204以后经过了多少时间。如果在步骤608处确定应该将存储器404的内容传送至基部处理器板计算机204,则处理在步骤610处继续进行。在步骤610处,执行传送并且将存储器404清空。然后,处理在步骤602处继续进行。一旦将数据传送至基部处理器板204,该数据就被存储在基部处理器板204上的存储器304中。然后,可以将数据传送至远离AACMM 100的处理器和/或显示在用户接口板202上的彩色LCD 338上。在另外的实施例中,使用用户接口板202上的彩色LCD 338来对阈值和时间间隔进行编程。
在实施例中,当AACMM 1001通电时,环境记录器362提供附加的监测。系统监测并记录被加以时间戳的事件,诸如,例如由软件返回的错误代码、错过的通信以及供电电压变化。然后,将来自环境记录器362的数据与基部处理器板204上的软件事件监测系统关联,以确定硬件错误条件是否与环境事件相关。
在实施例中,来自环境记录器362的数据用于创建AACMM 100的从制造起贯穿储存、装运和使用的历史。该历史数据可以用于诊断由用户报告的问题,这些问题可以包括精确度变化、电子错误和/或软件异常。作为示例,如果客户报告AACMM 100突然停止提供精确读数,则可以查阅历史数据以了解AACMM 100是否正好在性能变化之前受到了过度冲击。可以针对那时温度或振动的极值来查阅关于特定偏移或日期的性能问题的报告。历史数据还可以用于了解AACMM 100在向客户所在地运输期间或者在为了维修而返回到工厂的途中是否被机械损伤。可以针对历史日志中的公共环境因素来对表现相似性能症状的AACMM 100进行检查。
技术效果和益处包括更容易执行故障检修并确定产品故障的根本原因的能力,特别是针对在装运期间发生的事件、在正常工作时间之外发生的事件或者没有报告过的事件(例如,AACMM 100落下)。
本领域技术人员将理解,本发明的各方面可以被实施为系统、方法或计算机程序产品。因此,本发明的各方面可以采取完全硬件实施例的形式、完全软件实施例(包括固件、驻留软件、微代码等)的形式或者结合软件方面和硬件方面(在此全部通常可以称为“电路”、“模块”或“系统”)的实施例的形式。此外,本发明的各方面还可以采取以一个或多个包括计算机可读程序代码的计算机可读介质实现的计算机程序产品的形式。
可以采用一个或多个计算机可读介质的任何组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质可以是例如但不限于电子、磁、光学、电磁、红外线或半导体系统、设备或装置、或者前述的任何适当组合。计算机可读介质的更具体的示例(非详尽的列表)可以包括以下各项:具有一条或多条导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、光纤、便携式致密盘只读存储器(CD-ROM)、光存储装置、磁存储装置或前述的任何适当组合。在本文档的上下文中,计算机可读存储介质可以是任何有形媒体,该有形媒体可以包含或存储供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
计算机可读信号介质可以包括包含有计算机可读程序代码的传播数据信号,例如,在基带中或者作为载波的一部分。这样的传播信号可以采用各种形式,包括但不限于电磁、光学或其任何适当的组合。计算机可读信号介质可以是任何计算机可读介质,其不是计算机可读存储介质并且可以传递、传播或传输供指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合的程序。
可以使用任何适当的介质来传送在计算机可读介质上实现的程序代码,这些适当的介质包括但不限于无线、有线、光纤线缆、RF等或前述的任何适当组合。
用于实现本发明的各方面的操作的计算机程序代码可以以一种或多种编程语言的任何组合来编写,这些编程语言包括面向目标编程语言(诸如,Java、Smalltalk、C++、C#等)以及传统的过程化编程语言(诸如,“C”编程语言或者类似的编程语言)。程序代码可以完全在用户的计算机上运行、部分在用户的计算机上运行、作为独立的软件包运行、部分在用户的计算机上而部分在远程计算机上运行、或者完全在远程计算机或服务器上运行。在后者的情况下,远程计算机可以通过任何类型的网络(包括局域网(LAN)或广域网(WAN))连接到用户的计算机,或者可以(例如,利用因特网服务提供方、通过因特网)连接到外部计算机。
参照根据本发明的实施例的方法、设备(系统)和计算机程序产品的流程图和/或框图描述本发明的各方面。将理解的是,流程图和/或框图中的每个框以及流程图和/或框图中的框的组合可以通过计算机程序指令来实现。
可以将这些计算机程序指令提供给通用计算机、专用计算机的或其他可编程数据处理设备的处理器以制造机器,以使得经由计算机或其他可编程数据处理设备的处理器执行的指令创建用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的装置。这些计算机程序指令还可以存储在计算机可读介质中,其中该计算机可读介质可以引导计算机、其他可编程数据处理设备或其他装置以特定方式运行,以使得存储在计算机可读介质中的指令产生包括实现流程图和/或一个或多个框图的框中所指定的功能/动作的指令的制品。
计算机程序指令还还可以加载到计算机、其他可编程数据处理设备或其他装置上,以使得在计算机、其他可编程设备或其他装置上执行一系列操作步骤从而产生计算机实现的处理,以使得在计算机或其他可编程设备上运行的指令提供用于实现流程图和/或一个或多个框图的框中所指定的功能/动作的处理。
附图中的流程图和框图示出了根据本发明的各个实施例的系统、方法和计算机程序产品的可能实施的体系结构、功能和操作。在这点上,流程图或框图中的每个框都可以表示代码的模块、段或部分,其中代码包括用于实现所指定的逻辑功能的一条或多条可执行指令。还应该注意,在一些可替选实施中,框中所提到的功能可以不按照图中所提到的顺序来发生。例如,根据所涉及的功能,实际上可以基本同时实现相继示出的两个框,或者有时可以按倒序实现框。还将注意的是,框图和/或流程图中的每个框以及框图和/或流程图中的框的组合可以通过执行特定功能或动作的基于专用硬件的系统或者专用硬件与计算机指令的组合来实现。
尽管已经参照示例实施例描述了本发明,但是本领域技术人员将理解的是,在不背离本发明的范围的情况下可以进行各种改变并且等效物可以替代本发明的要素。此外,在不背离本发明的基本范围的情况下可以进行许多修改以使具体情况或材料适于本发明的教导。因此,本发明不限于作为实施本发明所预期的最佳模式所公开的特定实施例,而是本发明将包括落入在所附权利要求的范围内的全部实施例。此外,术语第一、第二等的使用不表示任何顺序或重要性,而是术语第一、第二等用于将一个要素与另一个要素相区分。此外,术语一个(a、an)等的使用不表示对数量的限制,而是表示存在至少一个所提及的项目。
权利要求书(按照条约第19条的修改)
1.一种便携式关节臂坐标测量机AACMM,包括:
可人工定位的关节臂,具有相对的第一端和第二端,所述臂包括连接的多个臂段,每个所述臂段均包括至少一个用于产生位置信号的位置变换器;
测量装置,附接到所述关节臂坐标测量机AACMM的第一端;
电子电路,被配置用于接收来自所述至少一个变换器的所述位置信号,并且用于提供与所述测量装置的位置对应的数据;以及
环境记录器,与所述电子电路通信,所述环境记录器包括:
传感器,用于输出参数的值;
存储器;以及
逻辑,可由所述环境记录器执行以实现包括如下步骤的方法:
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在所述存储器中,所述存储是响应于所述确定来进行的;
响应于所述确定来向所述电子电路发起警报;以及
将所述存储器的内容传送至所述电子电路;
其中,所述电子电路还被配置用于向用户推荐对所述关节臂坐标测量机AACMM的校准,所述推荐是响应于接收到所述警报来进行的。
2.根据权利要求1所述的系统,其中,所述环境记录器还包括电池,并且当所述便携式关节臂坐标测量机AACMM处于断电状态时,所述监测、所述确定以及所述存储是使用来自所述电池的功率来进行的。
3.根据权利要求1所述的系统,其中,所述方法还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
4.根据权利要求1所述的系统,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
5.根据权利要求1所述的系统,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
6.根据权利要求1所述的系统,其中,所述传感器包括冲击传感器,并且所述参数是加速度。
7.根据权利要求1所述的系统,其中,所述传感器包括温度传感器和湿度传感器中的至少一种。
8.一种实现便携式关节臂坐标测量机AACMM的方法,所述方法包括:
接收来自位于所述便携式关节臂坐标测量机AACMM上的传感器的参数的值,所述便携式关节臂坐标测量机AACMM包括:可人工定位的关节臂部分,所述臂部分具有相对的第一端和第二端,所述臂部分包括连接的多个臂段,每个所述臂段均包括至少一个用于产生位置信号的位置变换器;测量装置,附接到所述第一端;以及电子电路,接收来自所述至少一个变换器的所述位置信号并且提供与所述测量装置的位置对应的数据;
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在位于环境记录器上的存储器中,所述存储是响应于所述确定来进行的;
响应于所述确定来向所述电子电路发起警报;以及
将所述存储器的内容传送至所述电子电路,其中,所述电子电路响应于接收到所述警报来向用户推荐对所述关节臂坐标测量机AACMM的校准。
9.根据权利要求8所述的方法,其中,当所述便携式关节臂坐标测量机处于断电状态时,使用来自连接到所述环境记录器的电池的功率来进行所述监测、所述确定以及所述存储。
10.根据权利要求8所述的方法,还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
11.根据权利要求8所述的方法,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
12.根据权利要求8所述的方法,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
13.根据权利要求8所述的方法,其中,所述传感器包括冲击传感器,并且所述参数是加速度。
14.根据权利要求8所述的方法,其中,所述传感器包括温度传感器和湿度传感器中的至少一种。
15.根据权利要求8所述的方法,还包括:响应于所述存储器的内容来生成报告。
16.根据权利要求15所述的方法,其中,利用所述报告来诊断精确度变化、电子错误和软件异常中的至少一种。
17.一种用于实现便携式关节臂坐标测量机AACMM的计算机程序产品,所述计算机程序产品包括其上包含有计算机可读程序代码的存储介质,所述计算机可读程序代码在由计算机执行时,使得所述计算机实现以下方法,所述方法包括:
接收来自位于所述便携式关节臂坐标测量机AACMM上的传感器的参数的值,所述便携式关节臂坐标测量机AACMM包括:可人工定位的关节臂部分,所述臂部分具有相对的第一端和第二端,所述臂部分包括连接的多个臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器;测量装置,附接到所述便携式关节臂坐标测量机AACMM的第一端;以及电子电路,接收来自所述至少一个变换器的所述位置信号并且提供与所述测量装置的位置对应的数据;
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在位于环境记录器上的存储器中,所述存储是响应于所述确定来进行的;
响应于所述确定来向所述电子电路发起警报;以及
将所述存储器的内容传送至所述电子电路,其中,所述电子电路响应于接收到所述警报来向用户推荐对所述关节臂坐标测量机AACMM的校准。
18.根据权利要求17所述的计算机程序产品,其中,当所述便携式关节臂坐标测量机AACMM处于断电状态时,使用来自位于所述环境记录器上的电池的功率来进行所述监测、所述确定以及所述存储。
19.根据权利要求17所述的计算机程序产品,其中,所述方法还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
20.根据权利要求17所述的计算机程序产品,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
21.根据权利要求17所述的计算机程序产品,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
22.根据权利要求17所述的计算机程序产品,其中,所述传感器包括冲击传感器、温度传感器和湿度传感器中的至少一种。
23.根据权利要求1所述的系统,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是探针校准。
24.根据权利要求1所述的系统,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是单点关节性能测试。
25.根据权利要求8所述的方法,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是探针校准。
26.根据权利要求8所述的方法,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是单点关节性能测试。
27.根据权利要求17所述的计算机程序产品,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是探针校准。
28.根据权利要求17所述的计算机程序产品,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是单点关节性能测试。
29.根据权利要求18所述的计算机程序产品,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是探针校准。
30.根据权利要求18所述的计算机程序产品,其中,所推荐的对所述关节臂坐标测量机AACMM的校准是单点关节性能测试。
Claims (24)
1.一种便携式关节臂坐标测量机AACMM,包括:
可人工定位的关节臂,具有相对的第一端和第二端,所述臂包括连接的多个臂段,每个所述臂段均包括至少一个用于产生位置信号的位置变换器;
测量装置,附接到所述关节臂坐标测量机AACMM的第一端;
电子电路,用于接收来自所述至少一个变换器的所述位置信号,并且用于提供与所述测量装置的位置对应的数据;以及
环境记录器,与所述电子电路通信,所述环境记录器包括:
传感器,用于输出参数的值;
存储器;以及
逻辑,可由所述环境记录器执行以实现包括如下步骤的方法:
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在所述存储器中,所述存储是响应于所述确定来进行的;以及
将所述存储器的内容传送至所述电子电路。
2.根据权利要求1所述的系统,其中,所述环境记录器还包括电池,并且当所述便携式关节臂坐标测量机AACMM处于断电状态时,所述监测、所述确定以及所述存储是使用来自所述电池的功率来进行的。
3.根据权利要求1所述的系统,其中,所述方法还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
4.根据权利要求1所述的系统,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
5.根据权利要求1所述的系统,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
6.根据权利要求1所述的系统,其中,所述传感器包括冲击传感器,并且所述参数是加速度。
7.根据权利要求1所述的系统,其中,所述传感器包括温度传感器和湿度传感器中的至少一种。
8.一种实现便携式关节臂坐标测量机AACMM的方法,所述方法包括:
接收来自位于所述便携式关节臂坐标测量机AACMM上的传感器的参数的值,所述便携式关节臂坐标测量机AACMM包括:可人工定位的关节臂部分,所述臂部分具有相对的第一端和第二端,所述臂部分包括连接的多个臂段,每个所述臂段均包括至少一个用于产生位置信号的位置变换器;测量装置,附接到所述第一端;以及电子电路,接收来自所述至少一个变换器的所述位置信号并且提供与所述测量装置的位置对应的数据;
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在位于环境记录器上的存储器中,所述存储是响应于检测到事件来进行的;以及
将所述存储器的内容传送至所述电子电路。
9.根据权利要求8所述的方法,其中,当所述便携式关节臂坐标测量机处于断电状态时,使用来自连接到所述环境记录器的电池的功率来进行所述监测、所述确定以及所述存储。
10.根据权利要求8所述的方法,还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
11.根据权利要求8所述的方法,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
12.根据权利要求8所述的方法,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
13.根据权利要求8所述的方法,其中,所述传感器包括冲击传感器,并且所述参数是加速度。
14.根据权利要求8所述的方法,其中,所述传感器包括温度传感器和湿度传感器中的至少一种。
15.根据权利要求8所述的方法,还包括:响应于检测到所述事件来向所述电子电路发起警报。
16.根据权利要求8所述的方法,还包括:响应于所述存储器的内容来生成报告。
17.根据权利要求16所述的方法,其中,利用所述报告来诊断精确度变化、电子错误和软件异常中的至少一种。
18.一种用于实现便携式关节臂坐标测量机AACMM的计算机程序产品,所述计算机程序产品包括其上包含有计算机可读程序代码的存储介质,所述计算机可读程序代码在由计算机执行时,使得所述计算机实现以下方法,所述方法包括:
接收来自位于所述便携式关节臂坐标测量机AACMM上的传感器的参数的值,所述便携式关节臂坐标测量机AACMM包括:可人工定位的关节臂部分,所述臂部分具有相对的第一端和第二端,所述臂部分包括连接的多个臂段,每个臂段均包括至少一个用于产生位置信号的位置变换器;测量装置,附接到所述便携式关节臂坐标测量机AACMM的第一端;以及电子电路,接收来自所述至少一个变换器的所述位置信号并且提供与所述测量装置的位置对应的数据;
监测所述参数的值;
确定所述参数的值在可编程阈值之外;
将所述参数的值和时间戳存储在位于环境记录器上的存储器中,所述存储是响应于检测到事件来进行的;以及
将所述存储器的内容传送至所述电子电路。
19.根据权利要求18所述的计算机程序产品,其中,当所述便携式关节臂坐标测量机AACMM处于断电状态时,使用来自位于所述环境记录器上的电池的功率来进行所述监测、所述确定以及所述存储。
20.根据权利要求18所述的计算机程序产品,其中,所述方法还包括:在可编程的时间间隔期间将所述参数的值和所述时间戳存储在所述存储器中至少一次。
21.根据权利要求18所述的计算机程序产品,其中,当所述便携式关节臂坐标测量机AACMM通电时响应于下述情况中的至少一种来执行所述传送:所述存储器达到可编程的容量以及自从上一次将所述内容传送至所述电子电路以后经过了可编程的时间量。
22.根据权利要求18所述的计算机程序产品,其中,所述存储还响应于所述参数的值不同于所述参数的先前值来进行。
23.根据权利要求18所述的计算机程序产品,其中,所述传感器包括冲击传感器、温度传感器和湿度传感器中的至少一种。
24.根据权利要求18所述的计算机程序产品,其中,所述方法还包括:响应于检测到所述事件来向所述电子电路发起警报。
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