DE102010032467A1 - Measurement system for measuring position of measured object i.e. automobile part in automobile manufacturing facility, has computing units linking coordinates of surface positions of measured objects with measuring head position - Google Patents

Abstract

The system (1) has a mobile measurement unit (2) including a scanning sensor (10) arranged at a measuring head (8) for determination of coordinates of surface positions of measured objects (12). The measuring head is connected to a kinematic device (7) for movement of the measuring head relative to the objects. A position measuring sensor (9) determines a position and orientation of the measuring head within a measuring space (3). Computing units are formed for linking the coordinates of surface positions of the objects with the measuring head position at the measured objects.

Description

The invention relates to a measuring system comprising at least one mobile measuring unit for measuring fixedly positioned measuring objects, in particular for determining the shape, size, orientation and / or spatial position of the measuring objects.

In product manufacturing, especially in the context of production lines such as in the automotive industry, it is often necessary to measure objects positioned in different locations with high precision, without having to move them, and then to qualify on the basis of the measurement results. For the purposes of the present invention, the objects are referred to below as measurement objects.

For this purpose, measuring systems are required, which can also be used for island production with small and medium lot sizes, whereby all necessary measuring tasks have to be carried out on site at the measuring room. This mainly concerns large objects that can be difficult to move or remain in a jig during processing to continue their processing after the measurement process. Such objects are, for example, generators of windmills.

It is known to use automatic measuring means based on computerized numerical control (CNC). With regard to the best possible utilization of the production and measuring means, it is also desirable to be able to use the same measuring means in chronological order as fully as possible at various production islands.

The CNC-based measurement of components, assemblies or even complete machines currently takes place mainly with the help of coordinate measuring machines. These are usually stationary because of the required kinematic device for highly accurate movement of the probes and - resulting in - relatively high weight, so that the measurement objects must be brought to the coordinate measuring machine and positioned on this. For complete machines or partially assembled machine parts, this procedure is usually not possible.

For measurements in production lines, measuring robots are used in the prior art, the accuracy of which often has to be improved by additional measures. In the most common case, one relies on the good repeating accuracy of the robots in combination with a temperature compensation model that compensates for deviations due to thermal fluctuations. However, only trend corrections are possible.

Although temperature-compensated measuring robots allow a CNC-based measurement of large measurement objects at their location, they must be firmly installed due to the required stability, which makes these systems suitable only for assembly line production.

An inexpensive alternative hand-held measuring devices are, for example, according to the Absolute Distance Meter Technology (ADM) of FARO EUROPE GmbH & Co. KG, Lingwiesenstraße 11/2, D-70825 Korntal-Münchingen, Germany, work. However, in comparison to the CNC-based measurement, only comparatively inaccurate measurements are possible, which are also not automatable.

In the context of the parallelization of measurement tasks horizontal arm measuring machines are known, which are usually designed as double-stand systems and thereby permanently installed. Double-stand systems are used when large objects have to be accessible on both sides.

In connection with measuring systems which have mobile measuring units and consequently can also be used in the case of objects with small and medium batch sizes, an autonomous navigation is required for changes in the location of the measuring units from production island to production island. The world GPS navigation system is disadvantageously not usable in production halls, since a visual connection to satellites is necessary for the navigation. Furthermore, the world GPS system for applications to which this invention relates is not usable because of its limited accuracy.

For applications in which this visual connection does not exist, separate navigation systems, for example based on rotating laser fans, have been developed. Receivers, which are attached to an object to be located, receive the fanned light and send the time of light detection to a central computer, which calculates the position of the receiver and thus of the object from the time interval of different signal. The cost of such navigation systems are primarily determined by the rotating laser fans that define the coordinate system and are therefore relatively high.

In WO / 2009/086495 is a system of ROBOTIC ARM FOR ACCURATE POSITIONING IN THREE-DIMENSIONAL SPACE, MEASUREMENT OF THREE-DIMENSIONAL COORDINATES, AND REMOTE TOOLING OPERATIONS IN THREE DIMENSIONAL SPACE, where multiple mobile platforms collaborate with each other on a construction site. Laser trackers are installed on the platforms to monitor the positions of the platforms in a construction site coordinate system. Furthermore, a robot arm can be mounted on the platform that performs machining tasks. The position of the robot tip is not monitored and is subject to the typical positioning error of a robot in the range of millimeters.

Based on this prior art, the invention has for its object to provide a measuring system of the type described above, which is more versatile than previously used in the prior art and can be measured objects that are positioned at different locations, measured and qualified with high precision without having to be moved. The object of the invention is furthermore to propose a navigation system which can be used independently of the currently available global GPS system for the coordinated movement of the measuring units.

• – einem Messkopf,
• – mindestens einem am Messkopf angeordneten Abtastsensor, ausgebildet zur Bestimmung von Koordinaten von Oberflächenpositionen an den Messobjekten und/oder am Messkopf angeordneten steuerbaren Hilfsmitteln, ausgebildet zur Ausübung von Manipulationen an den Messobjekten,
• – einer mit dem Messkopf verbundenen kinematischen Einrichtung, ausgebildet zur Bewegung des Messkopfes relativ zu den Messobjekten in mindestens einem Translations- und einem Rotationsfreiheitsgrad,
• – einem mit der kinematischen Einrichtung verbundenen mobilen Unterbau, ausgebildet zur Bewegung der kinematischen Einrichtung einschließlich Messkopf und, falls vorhanden, Manipulationshilfsmitteln relativ zu den in einem oder verschiedenen Messräumen positionierten Messobjekten,
• – Positionsmesseinrichtungen, ausgebildet zur Bestimmung der jeweiligen Position und Orientierung des Messkopfes innerhalb eines Messraumes, und
• – Recheneinheiten, ausgebildet zur Verknüpfung von Koordinaten von Oberflächenpositionen an den Messobjekten mit Messkopfpositionen zu den eingangs genannten, auf die Messobjekte bezogenen Messergebnissen.

According to the invention, such a measuring system comprises at least one measuring unit, consisting of

• A measuring head,
• At least one scanning sensor arranged on the measuring head, designed to determine coordinates of surface positions on the measuring objects and / or controllable aids arranged on the measuring head, designed for the purpose of exercising manipulations on the measuring objects,
• A kinematic device connected to the measuring head, designed to move the measuring head relative to the measuring objects in at least one translational and one rotational degree of freedom,
• A mobile substructure connected to the kinematic device, designed to move the kinematic device including the measuring head and, if present, manipulation aids relative to the measuring objects positioned in one or more measuring chambers,
• - Position measuring devices, designed to determine the respective position and orientation of the measuring head within a measuring space, and
• - Arithmetic units, designed to link coordinates of surface positions on the measuring objects with measuring head positions to the aforementioned, related to the measurement objects measurement results.

Advantageously, a plurality of measuring chambers may be present, in each of which one or more measuring objects are located, wherein each measuring space is assigned a coordinate system and each of these coordinate systems is defined by fixing or reference points on which passive optical elements are arranged. Retroreflectors are preferably used as passive optical elements. The retroreflectors can be designed, for example, as retroreflector balls or as reflectors with an angle-independent transit time.

As scanning sensors, light-section sensors, tactile sensors or optical confocal sensors are preferably used, which determine the coordinates of surface positions and available retrievable by the computing units.

By means of the kinematic device, the measuring head and with it the scanning sensors are brought to different positions relative to the test object. The determination of the respective measuring head position is carried out by measuring distances between the measuring head and at least three passive optical elements and / or angles which are included in directions pointing from the measuring head to the passive optical elements.

In general, six components are required for a complete description of the probe position, including three translatory and rotational degrees of freedom. Accordingly, the position of the measuring head in the sense of the invention means both the position and the orientation of the measuring head in the measuring space.

The six degrees of freedom can be determined, for example, by measuring six distances or three distances and at least three angles or a distance and at least five angles.

Alternatively, the orientation of the measuring head can be kept constant during the movement. If the orientation was determined by calibration in a previous step, then the measurement of three distances is sufficient for the calculation of all six degrees of freedom. Technical details on possibilities of determining object positions in space are, for example, the publication EP 1 322 905 B1 refer to.

The distance measurements can be made interferometrically or with a pulse transit time method or also according to the chirped laser method. Position measuring systems that work with optical frequency combs can advantageously be used in this context. Technical details are for example the publication WO 2010/025845 A2 and therefore need not be explained in detail here.

The distance measurement can be performed using at least one light source and a Light receiving unit are made, wherein the light source and / or the light receiving unit are preferably mounted on the mobile base. To guide the light to the measuring head, glass fibers arranged along the kinematic device can be provided. The advantage here is a reduction in weight and volume of the measuring head.

The mathematical combination of the results of the distance measurements for determining the spatial position of the measuring head is effected according to the invention by trilateration.

When operating the measuring device, two variants are conceivable: in a first variant, only the position and orientation of the measuring head is detected and taken into account in the measured value determination, in a second variant, the position and orientation of the measuring head is stored in a control software, so that the measuring head after a Target / actual adjustment can be brought into a predetermined position.

The kinematic device is equipped for the purpose of movement of the measuring head with controllable actuators. The control is preferably carried out according to the principle of computerized numerical control (CNC), so that predetermined measurement positions can be reached quickly.

In a particular embodiment of the measuring system, at least two measuring units are operated simultaneously in one and the same measuring room, the determination of the measuring head positions taking place using the same passive optical elements within the coordinate system, which is assigned to this measuring space. The advantage is the acquisition of the position information by means of only one coordinate system. Thereby, the positions of the two measuring units can be related to each other, and distances between coordinates determined by the first measuring unit and coordinates determined by the second measuring unit can be calculated.

In a further particular embodiment of the invention, a drive unit may be provided, which is designed to generate control commands for the synchronous movement of the measuring heads of a plurality of measuring units operated simultaneously. This can be used, for example, to allow the kinematic devices of several measuring units to cooperate with each other, as will be explained in more detail below.

Advantageously, the mobile substructure for the purpose of defined movement of the measuring unit including the kinematic device and the measuring head is equipped with a control and traction drive system. This control and traction drive system is preferably coupled to a navigation device in order to ensure a collision-free movement with respect to other measuring units within a measuring chamber or when changing between different measuring chambers. With each change between different measuring chambers, the classification of the mobile measuring unit in question takes place in the coordinate system assigned to the respective measuring space.

At least one of the measuring units may be equipped with controllable aids, such as with manipulation tools, hoists, and / or at least one camera. In addition, a lighting device may be provided to illuminate certain surface areas of the measurement object during measurement processes or manipulations on the measurement object, such as assembly or repair work.

In this context, a device is provided which specifies control commands for these aids. It is within the scope of the invention to specify these control commands via manually operated command input devices or - depending on the measurement results related to the measurement objects such as shape, size, orientation in space, spatial position, etc. - to generate automatically.

If, as already explained above, measuring heads of a plurality of simultaneously operated measuring units are moved synchronously, then measuring tasks can be carried out in parallel, or the manipulation aids provided at the synchronously operated measuring units can simultaneously be involved in assembly or repair work on the same measuring object or collectively lift objects and to move relative to the measurement object. Thus, for example, a measuring unit can also be used at least temporarily to illuminate the measuring point on the measuring object, while another performs measuring or manipulation tasks.

In a further embodiment of the invention, it can be provided that the mobile substructure can optionally be disconnected from the kinematic device and reconnected as specified by an operator. The advantage is that the kinematic device with the measuring head can be used as a mobile or, at least temporarily, as a stationary measuring unit as a function of the separation or coupling of the mobile base.

An essential advantage of the measuring system according to the invention is that it at Insel production of measuring objects can be used flexibly and economically. The measuring objects remain on the production island during the entire production process, while all required measuring tasks or machining tasks can be carried out at the production site.

The connection of the mobile measuring devices with devices for manipulation of the measuring objects makes it possible to parallelise production tasks or advantageously distribute them in different places. This, in turn, is particularly advantageous for island production in which the resulting product is not moved from workstation to workstation as in a production line, but rather remains at one location and corresponding equipment must be brought to the respective production island for the various measuring and manipulation tasks.

In this context, it is advantageous if, as provided for by the invention, several autonomous measuring units with measuring and manipulation functions can navigate with high precision within a common coordinate system. The design of the common coordinate system depends on the task to be performed. In the world GPS system, the system is designed so that the coordinate system is defined by few and complex satellites. Here, many users can simultaneously navigate using a low-cost receiver.

For the mobile measuring devices, whether with or without manipulation function, it is advantageous if they are at the same time carrier of all active and expensive components of the navigation system, while passive assemblies, such as reflectors, are positioned outside the mobile measuring device. In this configuration, the common coordinate system is thus defined by low-cost passive elements. These elements can also be mounted in large quantities on large areas. Individual measuring devices can thus be operated cost-effectively at different locations in a hall or even in different halls. At the same time, this configuration avoids the disadvantage that most optical measuring systems are unable to determine the positions of several objects at the same time. Here each object carries its own measuring system and is based on the common coordinate system. Since there is no interaction of light with itself, the passive elements, e.g. As retroreflectors, are also used by several measuring systems simultaneously.

It is understood that the features of the invention described so far as well as those explained below can be used not only in the concretely specified but also in further detailed mean-effect relationships without departing from the inventive concept.

The invention will be explained in more detail below with reference to exemplary embodiments, which may also disclose additional features essential to the invention. In the accompanying drawings show:

1 the principle of the measuring system according to the invention, although here by way of example, although only one mobile measuring unit, but consists of several measuring chambers, each measuring space is assigned a coordinate system.

2 an example of two measuring units, each consisting of a kinematic device, on which a measuring head with scanning sensors for determining coordinates of surface positions is arranged on the measuring objects,

3 an example based on 2 in which the scanning sensors work according to different measuring principles,

4 an example based on 3 in which, however, the measuring units are designed without a mobile substructure,

5 an example of a flow chart for instructions and commands in the navigation of a measuring unit in one of the coordinate systems.

1 shows an example of an embodiment of the measuring system according to the invention 1 , especially suitable for automobile production. The measuring system 1 includes a mobile measurement unit 2 as well as two measuring rooms 3 and 4 , The measuring room 3 is a local coordinate system 5 , the measuring room 3 a local coordinate system 6 assigned.

• – eine kinematische Einrichtung 7,
• – einen Messkopf 8 mit einem zu einer Positionsmesseinrichtung gehörenden Positionsmesssensor 9 und einem Abtastsensor 10, und
• – einen verfahrbaren Unterbau 11.

The mobile measuring unit 2 includes

• - a kinematic device 7 .
• - a measuring head 8th with a position measuring sensor associated with a position measuring device 9 and a scanning sensor 10 , and
• - a movable substructure 11 ,

Based on local reference points 5.1 . 5.2 and 5.3 that the coordinate system 5 define, and reference points 6.1 . 6.2 . 6.3 and 6.4 that the coordinate system 6 define is at the respective measuring room 3 or 4 , depending on the measuring room in which the measuring unit 2 currently located, the exact position of the position measuring sensor 9 certainly. With the spatial position of the position measuring sensor 9 is at the same time the spatial position of the scanning sensor 10 determined, since this a defined spatial position and orientation in relation to the position measuring sensor 9 Has. The measuring rooms 3 . 4 are of course also to be understood as measuring stations.

The reference points 5.1 to 5.3 and 6.1 to 6.4 in the two coordinate systems 5 . 6 are preferably designed as passive retroreflectors, which have an optical measuring beam from one at the measuring head 8th arranged measuring beam generator goes out to the position measuring sensor 9 Rebound.

The coordinate determination is done for example via the measurement of three distances or distances between the position measuring sensor 9 and three different retroreflectors. The distance measurement can take place simultaneously or sequentially.

The measuring unit 2 is by means of the substructure 11 movable and can be changed as needed in the measuring room 3 or in the measuring room 4 in which they are loud 1 currently being used. This allows the measuring system 1 be flexibly and economically used for measurement tasks in in-house production.

So while operating the measurement unit 2 by means of the position measuring device, the spatial positions of the measuring head 8th are determined in the respective coordinate system, determines the scanning sensor 10 Coordinates of surface positions on the measurement object 12 , As a scanning sensor 10 Here, by way of example, a non-contact sensor is provided, as symbolically represented.

The computing units link with the distance measuring sensor 9 determined distances to spatial positions of the measuring head 8th and these with a variety of the with the scanning sensor 10 gained surface positions on the test object 12 to the measuring object to be determined, the measurement object 12 relevant measurement results, such as its shape, size, orientation in space and / or spatial position.

All active elements and assemblies, such as distance sensor 9 , Scanning sensor 10 or associated measuring beam generators are advantageously located on the measuring head and thus on the mobile measuring unit 2 while all the reference points required for position determination 5.1 to 5.3 and 6.1 to 6.4 Passive and outside the mobile unit 2 are arranged.

It goes without saying that not all components belonging to a position-measuring device on the measuring head 8th or in the immediate vicinity of the measuring head 8th be arranged. Thus, for example, assemblies such as laser, power supply, etc. on the kinematic device 7 or on the mobile substructure 11 be attached while the outgoing electrical or optical signals via cables or glass fibers to the measuring head 8th be transmitted.

All reference points 5.1 to 5.3 and 6.1 to 6.4 can inexpensively be designed as identical retroreflectors, the number of which does not affect the representation in 1 is limited. A larger number allows redundancy and avoids shading problems.

Beyond the previously described embodiment, the measuring unit 2 with two identical measuring heads 8th be equipped to accelerate certain measuring processes.

In contrast to 1 shows 2 an example of two mobile measuring units 2 within one and the same coordinate system, here again by reference points 5.1 to 5.3 is defined to be operated. As scanning sensors 10 are here, unlike the one in 1 illustrated measuring unit 2 , at both measuring units 2 provided tactile sensors, as shown symbolically. As both measuring units 2 in the same coordinate system 5 measure, coordinates, which were determined with the two tactile sensors, can be related to each other.

3 shows an example based on 2 in which, however, the scanning sensors 10 work according to different measuring principles, namely once without contact as already in 1 and tactile, as in 2 shown. In this way, if necessary, on the same measurement object 12 alternately or simultaneously both measuring principles can be used.

Out 4 is an example based on 3 apparent, but in which the measuring units 2 no movable substructures 11 exhibit. In this context, a particular embodiment of the invention provides that measuring units 2 without mobile substructure 11 be used or the mobile substructure 11 temporarily separable from the kinematic device, which can be made by an operator. The advantage is that the kinematic device 7 with the measuring head 8th depending on the separation or coupling of the mobile substructure 11 when needed as a mobile or, at least temporarily, as a stationary measuring unit 2 can be used.

Are in an embodiment of the measuring system according to the invention 1 in the embodiment 1 several measuring units 2 provided, which is flexible both in the measuring room 3 as well as in the measuring room 4 used and in this flexible between measuring room 3 in the measuring room 4 and vice versa, it is advantageous if in addition a common, both measuring spaces 3 . 4 cross-coordinate system (not shown in the drawing) is present, so that for all in this common coordinate system between the measuring spaces 3 . 4 moving measuring units 2 a controlled by time-synchronous coordinate determination navigation is possible, so that the measuring units 2 be able to move autonomously and without collision.

5 shows an example of a flow chart for instructions and commands in the navigation of a measuring unit 2 in one of the coordinate systems. The explanation follows from the information in the presentation.

LIST OF REFERENCE NUMBERS

1

measuring system

2

measuring unit

3

measuring room

4

measuring room

5

coordinate system

6

coordinate system

7

kinematic device

8th

probe

9

Distance measuring sensor

10

scanning sensor

11

mobile substructure

12

measurement object

5.1 to 5.3

reference points

6.1 to 6.4

reference points

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2009/086495 [0012]
• EP 1322905 B1 [0020]
• WO 2010/025845 A2 [0021]

Claims (17)

Measuring system comprising at least one measuring unit ( 2 ) for measuring stationary in measuring chambers ( 3 . 4 ) positioned measuring objects ( 12 ), in particular for determining the shape, size, orientation in space and / or the spatial position of the measurement objects ( 12 ), each measuring unit ( 2 ) consists of - a measuring head ( 8th ), - at least one at the measuring head ( 8th ) arranged scanning sensor ( 10 ), designed to determine coordinates of surface positions on the measuring objects ( 12 ) and / or arranged on the measuring head controllable aids, designed for the exercise of manipulation of the measuring objects, - one with the measuring head ( 8th ) associated kinematic device ( 7 ), designed for movement of the measuring head ( 5 ) relative to the measuring objects ( 12 ) in at least one translational and one rotational degree of freedom, one with the kinematic device ( 7 ) connected mobile substructure ( 11 ) adapted to move the kinematic device ( 7 ) including measuring head ( 8th ) relative to those in one or more measuring chambers ( 3 . 4 ) positioned measuring objects ( 12 ), - Position measuring devices, designed to determine the respective position and orientation of the measuring head ( 8th ) within a measuring room ( 3 . 4 ), and - arithmetic units, designed for linking the coordinates of surface positions on the measuring objects ( 12 ) with measuring head positions to the measuring objects ( 12 ) related measurement results. Measuring system according to claim 1, having a plurality of measuring chambers ( 3 . 4 ), in each of which one or more measuring objects ( 12 ), each measuring space ( 3 . 4 ) a coordinate system ( 5 . 6 ) and each coordinate system ( 5 . 6 ) of reference points ( 5.1 to 5.3 ; 6.1 to 6.4 ), on which passive optical elements, preferably in the form of retroreflectors, are arranged. Measuring system according to claim 2, wherein the determination of the measuring head position by measuring distances between the measuring head ( 8th ) and at least three reference points ( 5.1 to 5.3 ; 6.1 to 6.4 ) and / or angles in space and mathematically linking the results of the distance measurements by trilateration and / or triangulation. Measuring system according to claim 3, wherein the measurement of six distances or three distances and at least three angles or a distance and at least five angles is provided. Measuring system according to claim 3 or 4, wherein the distance measurement is provided by interferometric methods, pulse transit time methods, a combination of both methods and / or using frequency combs. Measuring system according to one of claims 3 to 5, wherein the distance measurement is provided using at least one light source and a light receiving unit, the light source or the light receiving unit on the mobile substructure ( 11 ) and the guidance of the light to the measuring head ( 8th ) by means of glass fiber along the kinematic device ( 7 ) is provided. Measuring system according to one of the preceding claims, wherein at least two measuring units ( 2 ) simultaneously in the same measuring room ( 3 or 4 ) and the determination of the measuring head positions based on the reference points ( 5.1 to 5.3 or 6.1 to 6.4 ) of the coordinate system is provided to this measuring room ( 3 or 4 ) assigned. Measuring system according to claim 7, wherein it is provided to set the measurement results of the measuring units in relation to each other in order to determine distances between coordinates that were generated with different measuring units. Measuring system according to one of the preceding claims, with at least one measuring unit ( 2 ) between the measuring chambers ( 3 and 4 ) is mobile, with each change between the measuring chambers ( 3 . 4 ) the classification of the measuring unit ( 2 ) into the respective measuring room ( 3 . 4 ) associated coordinate system ( 5 . 6 ) he follows. Measuring system according to one of the preceding claims, in which as scanning sensors ( 10 Preferably, light-section sensors, tactile sensors or optical confocal sensors are provided, in which the coordinates determined by surface positions are retrievable. Measuring system according to one of the preceding claims, in which the kinematic device ( 7 ) for movement of the measuring head ( 8th ) is equipped with actuators, which can be controlled by a drive unit, preferably according to the principle of computerized numerical control (CNC). Measuring system according to Claim 11, in which the drive unit is used to generate control commands for the synchronous movement of the measuring heads ( 8th ) of several simultaneously operated measuring units ( 2 ) is trained. Measuring system according to one of the preceding claims, in which the mobile substructure ( 11 ) for the purpose of defined movement of the measuring unit ( 2 ) is equipped with a control and traction drive system. Measuring system according to Claim 13, in which the control and drive system of each measuring unit ( 2 ) is coupled to a navigation device for collision-free movement with respect to other measuring units ( 2 ) within a measuring room ( 3 or 4 ) or when changing between different measuring rooms ( 3 . 4 ) to ensure. Measuring system according to one of the preceding claims, in which at least one of the measuring units ( 2 ) with controllable aids such as tools, a camera and / or a device for illuminating surface areas of the measurement object ( 12 ) and a means for specifying control commands for these tools is provided, the tools being used for assembly and / or repair work on the measuring objects ( 12 ) are provided. Measuring system according to one of the preceding claims, wherein the mobile substructure ( 11 ) of the kinematic device ( 7 ) can be disconnected and reconnected as required, so that the kinematic device ( 7 ) is used as a function of the separation or coupling stationary or mobile. Measuring system according to one of the preceding claims, in which - the detection of the position and orientation of the measuring head ( 8th ) and whose consideration is provided in the measured value determination, or - the storage of the position and orientation of the measuring head ( 8th ) is provided in a control software, so that the measuring head ( 8th ) can be brought after a target / actual balance in a predetermined position.

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