DE102018220088A1 - Method and device for determining at least one spatial position and orientation of at least one measurement object - Google Patents

Abstract

A measuring device (110) for determining at least one spatial position and orientation of at least one measurement object (112) is proposed, the measuring device (110) having at least three retroreflectors (114) and at least six localization units (116) or at least three localization units (116) and has at least six retroreflectors (114). Each of the localization units (116) is set up to generate at least one illuminating light beam (117) and to illuminate at least one retroreflector (114) with the illuminating light beam (117), each of the retroreflectors (114) being illuminated by at least one of the localization units (116) Each of the localization units (116) is set up to receive at least one reflected light beam (121) from the retroreflector (114) it illuminates and to generate at least one measurement signal. The measuring device (110) also has an evaluation unit (118), the evaluation unit (118) being set up to determine the spatial position and orientation of the measurement object (112) from the measurement signals of the localization units (116).

Description

Field of the Invention

The invention relates to a device for determining at least one spatial position and orientation of at least one measurement object, a coordinate measuring machine and a method for determining at least one spatial position and orientation of at least one measurement object. The present invention relates in particular to the field of coordinate measuring technology.

State of the art

When building processing and measuring machines, a processing or measuring head usually has to be positioned exactly. For example, in the context of machining programs, defined temporal and spatial courses of a position and orientation of the tool relative to a workpiece must be regulated, which usually involves considerable effort, in particular mechanical engineering. It may be necessary to feed a tool precisely, for example in the micrometer range or below, which usually requires complex measurement and control technology. The effort can increase further, for example if invariance, in particular constant accuracy, is required for the processing machine in relation to aging, temperature influences and / or other environmental influences, processing forces, and generally varying static and dynamic loads.

Usually, an attempt is made to predict an expected relative position and relative orientation between the workpiece and the tool by reading out sensors, as is the case for the machine axis stack sequence of a machine structure used, for example using calibration data from a machine model.

The calibration data can be determined using methods which are designed to determine the errors of the machine kinematics in such a way that a subsequent computational correction is possible using these calibration data. Depending on the complexity of the error pattern of the kinematics to be calibrated, the calibration procedure can also be very complex. In particular, it can be so complex that a complete recording of all errors for cost or process reasons is dispensed with.

For example, the use of four so-called laser trackers or laser trackers and a retroreflector is known. Using a suitable measurement strategy, a sequence of different positions of the retroreflector in the room can be used to unambiguously reconstruct the position of the laser tracers or laser trackers in the room and the different positions reached by the retroreflector. Accuracies in the range of micrometers can be achieved on a regular basis, and submicrometer accuracies can also be possible in a suitable environment.

Despite the advantages of the devices and methods known from the prior art, they still have room for improvement. Such known methods and devices are generally complex, expensive, not very robust and also complex, for example complex in terms of the necessary computing power and / or in terms of the number of required devices, such as retroreflectors and / or laser tracers. Furthermore, in order to record the three-dimensional position of the retroreflector, a chain of several measurements may be necessary. Furthermore, an interferometer beam path must not be interrupted during the measurement, in particular tracking. Furthermore, known devices and methods are often only suitable for determining the three-dimensional position of the retroreflector, but not the orientation.

Furthermore, it may be necessary, in particular, to carry out complex and error-linking very disadvantageous repeat measurement series with the same machine axis adjustment sequence and cantilevered retroreflector holders. The lack of reproducibility of the machine axis adjustments during the repeat measurement series as well as instabilities and inaccuracy of the relative retroreflector positions between the measurement series can often limit the meaningfulness of the measurements and usually do not allow the system limits of the localization technology used to be used.

Object of the invention

It is therefore the object of the present invention to provide a device and a method for determining at least one spatial position and orientation of at least one measurement object, which at least largely avoid the disadvantages of known devices and methods. In particular, at least one spatial position and orientation should be determined with high accuracy and less complexity.

Disclosure of the invention

This object is achieved by a device and a method with the features of the independent claims. Preferred configurations, which individually or in combination are realizable are shown in the dependent claims.

In the following, the terms “have”, “have”, “include” or “include” or any grammatical deviations therefrom are used in a non-exclusive manner. Accordingly, these terms can refer both to situations in which, in addition to the feature introduced by these terms, there are no further features or to situations in which one or more other features are present. For example, the expression "A has B", "A has B", "A includes B" or "A includes B" both refer to the situation in which, apart from B, there is no further element in A. (ie a situation in which A consists exclusively of B) as well as the situation in which, in addition to B, one or more further elements are present in A, for example element C, elements C and D or even further elements.

Furthermore, it is pointed out that the terms “at least one” and “one or more” as well as grammatical variations of these terms or similar terms, when used in connection with one or more elements or features, and to express that the element or feature is simple or can be provided more than once, generally only used once, for example when the feature or element is first introduced. When the feature or element is mentioned again, the corresponding term “at least one” or “one or more” is generally no longer used, without restricting the possibility that the feature or element can be provided one or more times.

Furthermore, the terms “preferably”, “in particular”, “for example” or similar terms are used in the following in conjunction with optional features, without this restricting alternative embodiments. Thus, features introduced by these terms are optional features, and it is not intended to limit the scope of the claims, and in particular the independent claims, by these features. Thus, as the person skilled in the art will recognize, the invention can also be carried out using other configurations. Similarly, features that are introduced by “in an embodiment of the invention” or by “in an embodiment of the invention” are understood as optional features, without this being intended to restrict alternative configurations or the scope of protection of the independent claims. Furthermore, these introductory expressions are intended to leave all possibilities of combining the features introduced thereby with other features, whether optional or non-optional, unchanged.

In a first aspect of the present invention, a measuring device for determining at least one spatial position and orientation of at least one measurement object is proposed. The measuring device has at least three retroreflectors and at least six localization units or at least three localization units and at least six retroreflectors. Each of the localization units is set up to generate at least one illuminating light beam and to illuminate at least one retroreflector with the illuminating light beam, each of the retroreflectors being illuminated by at least one of the localization units. Each of the localization units is set up to receive at least one reflected light beam from the retroreflector illuminated by it and to generate at least one measurement signal. The measuring device furthermore has an evaluation unit, the evaluation unit being set up to determine the spatial position and orientation of the measurement object from the measurement signals of the localization units.

In the context of the present invention, a “measurement object” can be understood to mean an object of any shape to be measured. For example, the measurement object can also be a measurement head of a sensor or a tool with which a component can be scanned.

In the context of the present invention, a “measuring device” can be understood to mean a device which is set up to determine the at least one spatial position and orientation of the measurement object. The spatial position and the orientation can be determined in a coordinate system, for example a Cartesian coordinate system or a spherical coordinate system. Other coordinate systems are also conceivable. An origin or zero point of the coordinate system can be in a point of the device. A “spatial position” can be understood to mean a three-dimensional point (X, Y, Z) in the coordinate system, in particular a position of the measurement object. The spatial position can be defined by the location coordinates X, Y and Z. An “orientation” can be understood to mean a position in space, in particular a rotation, of the measurement object, in particular an angular position. The orientation can be specified by at least three angles, for example Euler angle or inclination angle, roll angle and yaw angle. The spatial position and orientation of the object can also be referred to as six-dimensional information or 6D information.

In the context of the present invention, a “retroreflector” can be understood to mean any device which reflects a light beam in the direction from which the light beam has arrived. For example, the retroreflector can be a marker. For example, the retroreflector can be selected from the group consisting of: a cat's eye; a cat's eye with a reflective layer; a marker described in US 2011/0007326 A1 , US 2013/0050410 A1 or US 2017/0258531 A1 , the content of which is hereby incorporated into this application; a cube prism; a cornercube.

In the context of the present invention, a “localization unit” can basically be understood to mean any device which is set up to generate at least one localization information item. The location information can be selected from at least one item of information from the group consisting of: a measurement signal depending on the location of the retroreflector illuminated by the location unit; information about a distance of the retroreflector illuminated by the localization unit from the localization unit; information about a distance of the retroreflector illuminated by the localization unit to the localization unit; information about a relative position of the retroreflector illuminated by the localization unit to the localization unit; and information about a change in length.

The localization unit can be set up to illuminate at least one retroreflector with at least one illuminating light beam. In the context of the present invention, an “illuminating light beam” can basically be understood to mean any light beam which is emitted and / or emitted in order to illuminate the retroreflector. In particular, the illuminating light beam can be a light beam generated by one of the localization units for illuminating one of the retroreflectors. The localization units can each have at least one lighting unit. The lighting unit can have a light source, in particular a laser source.

In the context of the present invention, “light” can be understood to mean electromagnetic radiation in at least one spectral range selected from the visible spectral range, the ultraviolet spectral range and the infrared spectral range. The term visible spectral range basically covers a range from 380 nm to 780 nm. The term infrared (IR) spectral range basically covers a range from 780 nm to 1000 µm, the range from 780 nm to 1.4 µm as near infrared (NIR), and the range from 15 µm to 1000 µm is called Far Infrared (FIR). The term ultraviolet basically encompasses a spectral range from 100 nm to 380 nm. In the context of the present invention, a “light beam” can basically be understood as an amount of light which is emitted and / or emitted in a specific direction.

Each of the retroreflectors is illuminated by at least one of the localization units. A retroreflector can be illuminated by a plurality of localization units. The localization units can each be set up to receive at least one reflected light beam from the retroreflector illuminated by the respective localization unit and to generate at least one measurement signal in response to the reflected light beam. In the context of the present invention, a “measurement signal” can in principle be understood to mean any, in particular an electrical, signal, for example a voltage or a current, which was generated in accordance with the reflected, received light beam or using the reflected, received light beam.

Each of the localization units can comprise at least one element selected from the group consisting of: a laser tracer; a laser tracker; a LIDAR sensor, preferably an FMCW LIDAR sensor.

In the context of the present invention, a “laser tracer” can in principle be understood to mean any measuring device which is set up to determine a distance, in particular a change in distance, from a retroreflector interferometrically. The laser tracer can be set up to track a position of the retroreflector at different times. The laser tracer can be set up to follow a retroreflector moving in space by means of a laser beam. The distance change can be measured incrementally. The laser tracer can be an incremental measuring system with a large field of view, in particular a large swivel range of a laser beam direction. For example, at least two successive measurements may be required to measure the change in distance. The laser tracer can cover a wide angular range. For example, the laser beam of the laser tracer can be pivoted in the large angular range. In the context of the present invention, a “laser tracker” can in principle be understood to mean any measuring device that is set up to determine a distance and / or a direction of a retroreflector interferometrically, in particular relative to axes that are defined by an optomechanics of the laser tracker.

A “LIDAR sensor” can in principle be understood in the context of the present invention to be any device which is based on the LIDAR (“light detection and ranging”) measuring principle, also called LADAR (laser detection and ranging). In particular, the LIDAR sensor can be set up to generate and receive a light beam, for example a laser beam, in particular the light beam previously emitted by it and reflected back to it, and to use this to determine a distance between the LIDAR sensor and the retroreflector, for example taking advantage of differences in the return times and wavelengths. The localization unit can preferably have an FMCW LIDAR sensor. "FMCW" stands for "Frequency Modulated Continuous Wave". The FMCW LIDAR sensor can be set up to generate the light beam, the frequency of which is continuously tuned using the FMCW method. For example, the frequency of the light beam can be modulated linearly with time. A combination of the LIDAR method and the FMCW method are known in principle to the person skilled in the art, for example from Chip-scale Lidar, Benham Behroozpur Baghmisheh, Technical Report No. UCB / EECS.2017-4. For example, the lidar unit as in US 9,559,486 B2 , US 8,913,636 B2 or US 2016/123718 A1 be designed. FMCW-LIDAR sensors are more robust and less expensive than laser tracers. Furthermore, the FMCW-LIDAR sensors can be insensitive to so-called line-of-sight interruptions, since they are absolute measuring systems.

The measuring device has at least three retroreflectors and at least six localization units or at least three localization units and at least six retroreflectors. For example, the measuring device can have at least three retroreflectors and at least six localization units, each of the localization units comprising at least one laser tracker or at least one laser tracker.

In one embodiment, the measuring device can have three retroreflectors and six localization units. One, in particular a first, of the retroreflectors can be illuminated by a maximum of four of the localization units. The remaining at least two localization units can be aligned with and illuminate the other two retroreflectors. Other orientations of the localization units on the retroreflectors are also conceivable. In particular, when using three retroreflectors and six localization units, the localization units and the retroreflectors can be arranged and / or aligned with one another in one of the following configurations: four localization units on a first retroreflector, one localization unit on a second retroreflector and one localization unit on a third retroreflector ( four-one-one); three localization units on the first retroreflector, two localization units on the second retroreflector and one localization unit on the third retroreflector (three-two-one); two localization units on the first retroreflector, two localization units on the second retroreflector and two localization units on the third retroreflector (two-two-two).

For example, the measuring device can have the first retroreflector, the second retroreflector and the third retroreflector. For example, the measuring device can have a first localization unit, a second localization unit, a third localization unit, a fourth localization unit, a fifth localization unit and a sixth localization unit. The first, the second, the third and the fourth localization unit can be aligned with the first retroreflector, also referred to as being locked onto it, and illuminate it. The fifth localization unit can be aligned with the second retroreflector and illuminate it. The third retroreflector can be illuminated by the sixth localization unit. This corresponds to the four-one-one configuration. It is pointed out that both in this and in the examples below, the ordinal numbers of the retroreflectors and localization units are used as designations to distinguish them. Accordingly, the localization units can be interchangeable or interchangeable. The retroreflectors can also be interchangeable or interchangeable. Based on the above example, the second retroreflector can be illuminated by the sixth localization unit and the third retroreflector can be illuminated by the fifth localization unit, for example. Other combinations are possible.

For example, the first retroreflector can be illuminated by the first, the second and the third of the localization unit. The second retroreflector can be illuminated by the fourth and fifth localization units. The third retroreflector can be illuminated by the sixth localization unit. This corresponds to the configuration three-two-one. For example, the first retroreflector can be illuminated by the first and the second of the localization unit. The second retroreflector can be illuminated by the third and fourth localization units. The third retroreflector can be illuminated by the fifth and the sixth localization unit. This corresponds to the configuration two-two-two. Swaps of the Localization units with each other and the retroreflectors with each other are possible.

A relative position, in particular a spatial position and / or a distance, of the retroreflectors to one another and / or a relative position, in particular a spatial position and / or a distance of the localization units to one another, can be known. For example, the measuring device can have three retroreflectors and the retroreflectors can be arranged in one plane in the form of a triangle. The lengths of the sides of the triangle can be known. Provided that the relative position of the retroreflectors to one another is known, an embodiment of the measuring device with three retroreflectors and six localization units can be sufficient to generate 3D trajectories of all three retroreflectors or a 6D trajectory from a sequence of changes in length measured with the localization units to reconstruct a system of retroreflectors.

The measuring device can have at least three retroreflectors and at least seven localization units or at least three localization units and at least seven retroreflectors. One, in particular the first, of the retroreflectors can be illuminated by a maximum of five of the localization units. The remaining at least two localization units can be aligned with and illuminate the other two retroreflectors. Other orientations of the localization units on the retroreflectors are also conceivable. In particular, when using three retroreflectors and seven localization units, the localization units and the retroreflectors can be arranged and / or aligned with one another in one of the following configurations: five localization units on the first retroreflector, one localization unit on the second retroreflector and one localization unit on the third retroreflector ( five-one-one), four localization units on the first retroreflector, two localization units on the second retroreflector and one localization unit on the third retroreflector (four-two-one); three localization units on the first retroreflector, three localization units on the second retroreflector and one localization unit on the third retroreflector (three-three-one); three localization units on the first retroreflector, two localization units on the second retroreflector and two localization units on the third retroreflector (three-two-two). Thus one of the three retroreflectors can be illuminated by four of the localization units, one of the two further retroreflectors can be illuminated by two further of the localization units and the remaining one of the retroreflectors can be illuminated by the remaining one of the localization units. In particular, each of the three retroreflectors can be illuminated by at least two localization units, for example using the configuration three-two-two described above. A configuration with at least seven localization units can be advantageous, since an interruption of a line of sight (line-of-sight interruption) between one of the retroreflectors and one of the localization units irradiating it, in particular an interruption of the illuminating light beam or the reflected light beam, does not result in a failure of the measuring device. With this configuration, the loss or failure of a localization unit can have no consequences since each retroreflector is tracked by at least two localization units. With this configuration, there is also no need to calibrate or calibrate the localization units, so that all localization units can be aligned equally with their measurement position, ie with “their” retroreflector.

For example, the measuring device can have the first retroreflector, the second retroreflector and the third retroreflector. For example, the measuring device can have the first localization unit, the second localization unit, the third localization unit, the fourth localization unit, the fifth localization unit, the sixth localization unit and a seventh localization unit. The first retroreflector can be illuminated by the first, second, third, fourth and fifth localization unit. The second retroreflector can be illuminated by the sixth localization unit. The third retroreflector can be illuminated by the seventh localization unit. This corresponds to the five-one-one configuration. It is pointed out that the atomic numbers of the retroreflectors and localization units are used as names and for differentiation. For example, the first retroreflector can be illuminated by the first, second, third and fourth of the localization unit. The second retroreflector can be illuminated by the fifth and the sixth localization unit. The third retroreflector can be illuminated by the seventh localization unit. This corresponds to the configuration four-two-one. For example, the first retroreflector can be illuminated by the first, the second and the third localization unit. The second retroreflector can be illuminated by the fourth, fifth and sixth localization units. The third retroreflector can be illuminated by the seventh localization unit. This corresponds to the configuration three-three-one. For example, the first retroreflector can be illuminated by the first, the second and the third localization unit. The second retroreflector can be illuminated by that of the fourth and fifth localization units. The third The retroreflector can be illuminated by the sixth and seventh localization units. This corresponds to the configuration three-two-two. The localization units and the retroreflectors can be interchanged.

As an alternative to an embodiment of the measuring device with at least three retroreflectors and at least six localization units, the measuring device can have at least three localization units and at least six clearly identifiable retroreflectors, each of the localization units comprising at least one LIDAR sensor. By expanding the illuminating light beam or scanning, the LIDAR sensor can detect more than one retroreflector, in particular the entire measuring range, for example all retroreflectors. For the alignment of the at least six retroreflectors and at least three localization units to one another, reference can be made to the above description of the configuration of the measuring device with at least three retroreflectors and at least six localization units, the at least three retroreflectors by the at least three localization units and the at least six localization units by the at least six Retroreflectors to be replaced. The illuminating light beams of the localization units, in particular the LIDAR sensors, can be expanded, for example by means of a device for beam expansion, in such a way that the localization unit with the expanded illuminating light beam outshines more than one retroreflector, for example two or more retroreflectors. In this way, for example, the at least six retroreflectors can be illuminated simultaneously with the illuminating light beams of the at least three localization units, even if a number of the localization units falls below a number of the retroreflectors. Alternatively or additionally, the localization units can scan the retroreflectors, for example by means of a laser line or laser raster scan. For example, at least one of the localization units can scan a plurality of retroreflectors, for example two or more retroreflectors, in particular alternately illuminate them at short time intervals by changing the alignment of the illuminating light beam.

The retroreflectors can act as a "fixed star sky" with comparatively close stars, so that with distance-measuring technology a highly precise measurement of location and position in space is possible. Such an arrangement with a viewing direction to the outside can also be referred to as “inverted navigation”. In this embodiment, the measuring device can have a plurality of retroreflectors, for example a retroreflector distribution. A large number of permutation options for inverted navigation, in particular the possibility of using a retroreflector distribution, with which line-of-sight interruptions, for example due to interference contours of the workpiece and / or machine, have no consequences for determining the 6D information, are conceivable.

The retroreflectors can be arranged on the measurement object and the localization units can be arranged in the room and / or the localization units can be arranged on the measurement object and the retroreflectors can be arranged in the room. The retroreflectors can be arranged far apart. Together with the localization units, the retroreflectors can span and / or define a working volume. The retroreflectors can be arranged such that they are far apart within the working volume. The localization units can each have a holder for arranging, setting up and / or fastening the localization units. In particular, for example in the case of a measuring device with at least the localization units in the form of LIDAR sensors and at least six retroreflectors, the at least three LIDAR sensors can be attached to the measurement object and the at least six, in particular seven, retroreflectors can be arranged in the room. The retroreflectors can also each have at least one holder for arranging, installing and / or fastening the retroreflectors.

The measuring device can have a control unit. In the context of the present invention, a “control unit” can basically be understood to be a device which is set up to control or regulate at least one component or process. For example, the control unit can have at least one data processing device, for example at least one computer or microcontroller. The control unit can in particular be designed as a central control unit for the entire measuring device. Alternatively, however, a decentralized evaluation unit with several individual, cooperating components is also possible. The control unit can furthermore have at least one user interface, for example at least one keyboard and / or at least one display. The control unit can be set up to align the localization units relative to the retroreflectors. The control unit can be set up to control or regulate a movement of the localization units. The measuring device can be set up to determine a speed of a movement of the retroreflectors. For example, the localization units of the measuring device can be designed as FMCW LIDAR sensors. The Measuring device can be set up to determine a movement of the measurement object by tracking, also called tracking, the retroreflectors attached to the measurement object. When measuring the distance of the retroreflectors from the localization units, the speeds of the retroreflectors, in particular of the retroreflector ensemble, can be determined instantaneously with the measuring device in the case of moving retroreflectors using the Doppler shift occurring in the FMCW LIDAR sensors. This can be of great advantage in particular for motion control of a machine. When using the FMCW LIDAR sensors as localization units, a signal can be generated directly according to the movement of the retroreflector. The FMCW lidar sensors can have the advantage that the movement of an object is expressed directly as a signal. The movement of the retroreflector can lead to a Doppler shift of a beat frequency, wherein the Doppler shift of the beat frequency can encode the distance of the retroreflector. The Doppler shift of the beat frequency can be present at any time. For example, it may be necessary to calculate the Doppler shift of the beat frequency in order to be able to determine the distance of the retroreflector with a desired accuracy when the retroreflector is moving. Information about an instantaneous speed of the retroreflector can be present at any time as a measurement signal in the form of the Doppler shift of the beat frequency and thus the speed of the retroreflector can be determined instantaneously. In the case of measurement systems based on interferometry, the speed of the retroreflector can only be calculable from the spatial distance between two measurements that are spaced apart in time.

The measuring device also has at least one evaluation unit which is set up to determine the spatial position and orientation of the measurement object from the measurement signals of the localization units. The evaluation unit can be set up to reconstruct 3D trajectories of all three retroreflectors or a 6D trajectory of a system of retroreflectors. In the context of the present invention, an “evaluation unit” can basically be understood to be a device which is set up to carry out one or more evaluation steps. For example, the evaluation unit can have at least one data processing device, for example at least one computer or microcontroller. The evaluation unit can in particular be designed as a central evaluation unit for the entire measuring device. Alternatively, however, a decentralized evaluation unit with several individual, cooperating components is also possible. The evaluation unit can furthermore have at least one user interface, for example at least one keyboard and / or at least one display. The evaluation unit can be set up to record and process the measurement signals of the localization units.

The evaluation unit is set up to determine the spatial position and orientation of the measurement object from the measurement signals of the localization units. The evaluation unit can be set up to carry out at least one multilateration method, in particular a multilateration method described below, for determining the 6D information. In the context of the present invention, a “multilateration method” can basically be understood to mean any method for determining the spatial position of at least one point, the method being based on the use of distances from the point to a plurality of further points. The distances can be determined by distance measurements. To determine the spatial position and orientation of a three-dimensional object using the multilateration method, for example the spatial positions of at least three points encompassed by the object can be determined.

, der Ortsvektor des zweiten Retroreflektors sei $\underset{\text{v}}{{\displaystyle \to }}$

und der Ortsvektor des dritten Retroreflektors sei $\underset{\text{w}}{{\displaystyle \to }}$

. Die bekannten und/oder vorbestimmten und/oder vorbestimmbaren Abstände zwischen den Retroreflektoren mit den Ortsvektoren $\underset{\text{u}}{{\displaystyle \to }}$

und $\underset{\text{v}}{{\displaystyle \to }}$

, $\underset{\text{u}}{{\displaystyle \to }}$

und $\underset{\text{w}}{{\displaystyle \to }}$

sowie $\underset{\text{w}}{{\displaystyle \to }}$

und $\underset{\text{v}}{{\displaystyle \to }}$

seien d_uv , d_uw und d_vw . Der Ortsvektor der ersten Lokalisierungseinheit sei $\underset{M1}{{\displaystyle \to }}$

, der Ortsvektor der zweiten Lokalisierungseinheit sei $\underset{\text{M}2}{{\displaystyle \to }}$

, der Ortsvektor der dritten Lokalisierungseinheit sei $\underset{\text{M}3}{{\displaystyle \to }}$

, der M2 M3 Ortsvektor der vierten Lokalisierungseinheit sei $\underset{\text{M}4}{{\displaystyle \to }}$

, der Ortsvektor der fünften Lokalisie-M4 rungseinheit sei $\underset{\text{M}5}{{\displaystyle \to }}$

und der Ortsvektor der sechsten Lokalisierungseinheit sei $\underset{\text{M}6}{{\displaystyle \to }}$

. Beispielsweise können die Ortsvektoren der Lokalisierungseinheiten vorbekannt und/oder vorbestimmt und/oder vorbestimmbar sein, beispielsweise durch ein Kalibrierungsverfahren. Die Ortsvektoren der Lokalisierungseinheiten können in einem Datenspeicher der Auswerteeinheit hinterlegt sein, beispielsweise in Form einer Lookup-Tabelle. Die drei der sechs Lokalisierungseinheiten mit den Ortsvektoren $\underset{\text{M}1}{{\displaystyle \to }}$

, $\underset{\text{M}2}{{\displaystyle \to }}$

und $\underset{\text{M}3}{{\displaystyle \to }}$

können den ersten Ret-roreflektor mit Ortsvektor $\underset{\text{u}}{{\displaystyle \to }}$

beleuchten und zu diesem die Abstände l₁ , l₂ und l₃ aufweiu sen. Die Auswerteeinheit kann eingerichtet sein, aus dem Messsignal der jeweiligen Lokalisierungseinheit die Abstände l₁ , l₂ und l₃ zu bestimmen. Ferner können die zwei Lokalisierungseinheiten mit den Ortsvektoren $\underset{M4}{{\displaystyle \to }}$

und $\underset{M5}{{\displaystyle \to }}$

den zweiten Retroreflektor mit Ortsvektor $\underset{w}{{\displaystyle \to }}$

beleuchten und zu diesem die Abstände l₄ und l₅ aufweisen. Die Auswerteeinheit kann eingerichtet sein, aus dem Messsignal der jeweiligen Lokalisierungseinheit die Abstände l₄ und l₅ zu bestimmen. Weiterhin kann die Lokalisierungseinheit mit dem Ortsvektor $\underset{M6}{{\displaystyle \to }}$

den dritten Retroreflektor mit Ortsvektor $\underset{v}{{\displaystyle \to }}$

beleuchten und zu diesem den Abstand M6 l₆ aufweisen. Die Auswerteeinheit kann eingerichtet sein, aus dem Messsignal der Lokalisierungseinheit den Abstand l₆ zu bestimmen.For example, the measuring device can have three retroreflectors and six localization units. The first retroreflector can be illuminated by the first, the second and the third of the localization unit. The second retroreflector can be illuminated by the fourth and fifth localization units. The third retroreflector can be illuminated by the sixth localization unit. The relative position of the first, second and third retroreflector can be known to one another and / or predetermined and / or predeterminable. For example, the relative position can be stored in a data memory of the evaluation unit, for example in the form of a lookup table. For example, the three retroreflectors can be arranged in the form of a triangle on the measurement object. The location vector of the first retroreflector is $\underset{\text{u}}{{\displaystyle \to }}$

, is the location vector of the second retroreflector $\underset{\text{v}}{{\displaystyle \to }}$

and is the location vector of the third retroreflector $\underset{\text{w}}{{\displaystyle \to }}$

. The known and / or predetermined and / or predeterminable distances between the retroreflectors with the location vectors $\underset{\text{u}}{{\displaystyle \to }}$

and $\underset{\text{v}}{{\displaystyle \to }}$

, $\underset{\text{u}}{{\displaystyle \to }}$

and $\underset{\text{w}}{{\displaystyle \to }}$

such as $\underset{\text{w}}{{\displaystyle \to }}$

and $\underset{\text{v}}{{\displaystyle \to }}$

be d _uv , d _uw and d _vw . The location vector of the first localization unit is $\underset{\mathrm{<figure-callout\; id="1"\; label="M"\; filenames="DE102018220088A1\_0058.png,DE102018220088A1\_0059.png"\; state="\{\{state\}\}">M</figure-callout>}1}{{\displaystyle \to }}$

, is the location vector of the second localization unit $\underset{\text{M}\mathrm{2nd}}{{\displaystyle \to }}$

, is the location vector of the third localization unit $\underset{\text{M}\mathrm{3rd}}{{\displaystyle \to }}$

, the M2 M3 location vector of the fourth localization unit $\underset{\text{M}\mathrm{4th}}{{\displaystyle \to }}$

, is the location vector of the fifth localization unit $\underset{\text{<figure-callout id="5" label="M" filenames="DE102018220088A1\_0059.png" state="{{state}}">M</figure-callout>}5}{{\displaystyle \to }}$

and is the location vector of the sixth localization unit $\underset{\text{<figure-callout id="6" label="M" filenames="DE102018220088A1\_0059.png" state="{{state}}">M</figure-callout>}6}{{\displaystyle \to }}$

. For example, the location vectors of the localization units can be known and / or predetermined and / or predeterminable, for example by a calibration method. The location vectors of the localization units can be stored in a data memory of the evaluation unit, for example in the form of a lookup table. The three of the six localization units with the location vectors $\underset{\text{<figure-callout id="1" label="M" filenames="DE102018220088A1\_0058.png,DE102018220088A1\_0059.png" state="{{state}}">M</figure-callout>}1}{{\displaystyle \to }}$

, $\underset{\text{M}\mathrm{2nd}}{{\displaystyle \to }}$

and $\underset{\text{M}\mathrm{3rd}}{{\displaystyle \to }}$

can the first retroreflector with location vector $\underset{\text{u}}{{\displaystyle \to }}$

illuminate and to this the distances l ₁ , l ₂ and l ₃ to show. The evaluation unit can be set up, the distances from the measurement signal of the respective localization unit l ₁ , l ₂ and l ₃ to determine. Furthermore, the two localization units with the location vectors $\underset{M\mathrm{4th}}{{\displaystyle \to }}$

and $\underset{\mathrm{<figure-callout\; id="5"\; label="M"\; filenames="DE102018220088A1\_0059.png"\; state="\{\{state\}\}">M</figure-callout>}5}{{\displaystyle \to }}$

the second retroreflector with location vector $\underset{w}{{\displaystyle \to }}$

illuminate and to this the distances l ₄ and l ₅ exhibit. The evaluation unit can be set up, the distances from the measurement signal of the respective localization unit l ₄ and l ₅ to determine. Furthermore, the localization unit with the location vector $\underset{\mathrm{<figure-callout\; id="6"\; label="M"\; filenames="DE102018220088A1\_0059.png"\; state="\{\{state\}\}">M</figure-callout>}6}{{\displaystyle \to }}$

the third retroreflector with location vector $\underset{v}{{\displaystyle \to }}$

illuminate and to this the distance M6 l ₆ exhibit. The evaluation unit can be set up to determine the distance l ₆ from the measurement signal of the localization unit.

$${\text{l}}_{\text{i}}=\Vert \underset{v}{{\displaystyle \to }}-\underset{\text{Mi}}{{\displaystyle \to }}\Vert \text{ f}\ddot{\text{u}}\text{r i}=4\text{ bis }5$$

$${\text{l}}_{\text{i}}=\Vert \underset{w}{{\displaystyle \to }}-\underset{\text{Mi}}{{\displaystyle \to }}\Vert \text{ f}\ddot{\text{u}}\text{r i}=6$$

(3).The evaluation unit can be set up to determine the spatial position and orientation of the measurement object according to the following multilateration method. The evaluation unit can be set up to determine the spatial position and orientation of the measurement object to solve the following system of equations. The distances l _i with i = 1 to 6 can be described by the location vectors of the retroreflectors and localization units as follows: $${\text{l}}_{\text{i}}=\Vert \underset{u}{{\displaystyle \to }}-\underset{\text{Wed}}{{\displaystyle \to }}\Vert \text{f}\ddot{\text{u}}\text{r i}=1\text{to}\mathrm{3rd}$$

$${\text{l}}_{\text{i}}=\Vert \underset{v}{{\displaystyle \to }}-\underset{\text{Wed}}{{\displaystyle \to }}\Vert \text{f}\ddot{\text{u}}\text{r i}=\mathrm{4th}\text{to}5$$

$${\text{l}}_{\text{i}}=\Vert \underset{w}{{\displaystyle \to }}-\underset{\text{Wed}}{{\displaystyle \to }}\Vert \text{f}\ddot{\text{u}}\text{r i}=6$$

(3).

$${\text{d}}_{\text{uw}}{}^2={\left({\text{u}}_1-{\text{w}}_1\right)}^2+{\left({\text{u}}_{\text{2}}-{\text{w}}_2\right)}^2+{\left({\text{u}}_3-{\text{w}}_3\right)}^2$$

$${\text{d}}_{\text{vw}}{}^2={\left({\text{v}}_1-{\text{w}}_1\right)}^2+{\left({\text{v}}_{\text{2}}-{\text{w}}_2\right)}^2+{\left({\text{v}}_3-{\text{w}}_3\right)}^2$$

wobei u₁ , u₂ und u₃ die Vektorkomponenten des Ortsvektors $\overrightarrow{u}$

, v₁ , v₂ und v₃ die Vektor-komponenten des Ortsvektors $\overrightarrow{v}$

, und w₁ w₂ uns w₃ die Vektorkomponenten des Ortsvektors $\overrightarrow{w}$

sind.The following equations also result from the geometry of the triangle formed by the three retroreflectors: $${\text{d}}_{\text{uv}}{}^{\mathrm{2nd}}={\left({\text{u}}_1-{\text{v}}_1\right)}^{\mathrm{2nd}}+{\left({\text{u}}_{\text{2nd}}-{\text{v}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{u}}_{\mathrm{3rd}}-{\text{v}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}$$

$${\text{d}}_{\text{etc.}}{}^{\mathrm{2nd}}={\left({\text{u}}_1-{\text{w}}_1\right)}^{\mathrm{2nd}}+{\left({\text{u}}_{\text{2nd}}-{\text{w}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{u}}_{\mathrm{3rd}}-{\text{w}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}$$

$${\text{d}}_{\text{vw}}{}^{\mathrm{2nd}}={\left({\text{v}}_1-{\text{w}}_1\right)}^{\mathrm{2nd}}+{\left({\text{v}}_{\text{2nd}}-{\text{w}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{v}}_{\mathrm{3rd}}-{\text{w}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}$$

in which u ₁ , u ₂ and u ₃ the vector components of the location vector $\overrightarrow{u}$

, v ₁ , v ₂ and v ₃ the vector components of the location vector $\overrightarrow{v}$

, and w ₁ w ₂ us w ₃ the vector components of the location vector $\overrightarrow{w}$

are.

$${\text{l}}_{\text{i}}{}^{\text{2}}={\left({\text{M}}_{\text{i1}}-{\text{v}}_1\right)}^2+{\left({\text{M}}_{\text{i2}}-{\text{v}}_2\right)}^2+{\left({\text{M}}_{\text{i3}}-{\text{v}}_3\right)}^2\text{ für i}=4\text{ bis 5}$$

$${\text{l}}_{\text{i}}{}^{\text{2}}={\left({\text{M}}_{\text{i1}}-{\text{w}}_1\right)}^2+{\left({\text{M}}_{\text{i2}}-{\text{w}}_2\right)}^2+{\left({\text{M}}_{\text{i3}}-{\text{w}}_3\right)}^2\text{ für i}=6$$

wobei M_i1 die x-Komponente des Ortsvektors der i-ten Lokalisierungseinheit, M_i2 die y-Komponente des Ortsvektors der i-ten Lokalisierungseinheit und M_i3 die z-Komponente des Ortsvektors der i-ten Lokalisierungseinheit ist. Bei einer Anzahl von M Lokalisierungseinheiten ergeben sich somit zusätzlich zu den drei aus der Geometrie des Dreiecks folgenden Gleichung (4), (5) und (6) für die 9 unbekannten Vektorkomponenten der Vektoren $\overrightarrow{u}$

, $\overrightarrow{v}$

und $\overrightarrow{w}$

M weitere Gleichungen, so dass insgesamt M + 3 Gleichungen für 9 Unbekannte vorliegen. Dieses Gleichungssystem ist ab einer Anzahl von M = 6 Lokalisierungseinheiten eindeutig lösbar.The distances l _i can be determined in vector component notation as follows: $${\text{l}}_{\text{i}}{}^{\text{2nd}}={\left({\text{M}}_{\text{i1}}-{\text{u}}_1\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i2}}-{\text{u}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i3}}-{\text{u}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}\text{for i}=1\text{to 3}$$

$${\text{l}}_{\text{i}}{}^{\text{2nd}}={\left({\text{M}}_{\text{i1}}-{\text{v}}_1\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i2}}-{\text{v}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i3}}-{\text{v}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}\text{for i}=\mathrm{4th}\text{until 5}$$

$${\text{l}}_{\text{i}}{}^{\text{2nd}}={\left({\text{M}}_{\text{i1}}-{\text{w}}_1\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i2}}-{\text{w}}_{\mathrm{2nd}}\right)}^{\mathrm{2nd}}+{\left({\text{M}}_{\text{i3}}-{\text{w}}_{\mathrm{3rd}}\right)}^{\mathrm{2nd}}\text{for i}=6$$

where M _{i1 is} the x component of the location vector of the i th localization unit, M _i2 the y component of the location vector of the i th localization unit and M _{i3 is} the z component of the location vector of the i th localization unit. With a number of M localization units, in addition to the three equations (4), (5) and (6) resulting from the geometry of the triangle, the result for the 9 unknown vector components of the vectors $\overrightarrow{u}$

, $\overrightarrow{v}$

and $\overrightarrow{w}$

M further equations, so that there are a total of M + 3 equations for 9 unknowns. This system of equations can be clearly solved from a number of M = 6 localization units.

gilt. Diese Bedingung ist ab einer Anzahl von M = 7 Lokalisierungseinheiten erfüllt. In einem solchen Fall kann die Bestimmung von der räumlichen Position und Orientierung des Messobjekts mittels der Messvorrichtung ohne die weiter unten noch näher erläuterte Kalibrierung durchführbar sein. Die Messvorrichtung kann eingerichtet sein eine Messung der Abstände von den Lokalisierungseinheiten zu den jeweiligen Retroreflektoren an einer Mehrzahl von Messzeitpunkten durchzuführen. Insbesondere kann die Messvorrichtung eingerichtet sein eine Messung der Abstände von den Lokalisierungseinheiten zu den jeweiligen Retroreflektoren an N Messzeitpunkten durchzuführen. Bei M Lokalisierungseinheiten kann für die Anzahl N der Messzeitpunkte folgende Bedingung gelten $$\text{N}\cdot \left(3+\text{M}\right)\ge 3\cdot \text{M}+\text{N}\cdot 3\cdot 3$$

$$\text{N}\cdot \left(3+\text{M}-\text{3}+\text{3}\right)\ge 3\cdot \text{M}$$

$$\text{N}\cdot \ge \frac{3\cdot M}{3+M-3\cdot 3}$$

As stated above, the location vectors of the localization units can be, for example, by a calibration procedure must be predetermined. The measuring device can be set up to determine the position and orientation without known location vectors of the localization units, in particular to dispense with calibration. When using a measuring device with three retroreflectors and at least seven localization units, the calibration step can be omitted. For a first measurement time with M localization units, 3 + M equations with 3 · M + 3 · 3 unknowns can result. For each additional time of measurement, further 3 + M equations and further 3 · 3 unknowns can result. Such a system of equations can be clearly solved on the condition that $$\mathrm{3rd}+\text{M}>\mathrm{3rd}\cdot \mathrm{3rd}$$

applies. This condition is fulfilled from a number of M = 7 localization units. In such a case, the determination of the spatial position and orientation of the measurement object by means of the measurement device can be carried out without the calibration, which will be explained in more detail below. The measuring device can be set up to measure the distances from the localization units to the respective retroreflectors at a plurality of measuring times. In particular, the measuring device can be set up to measure the distances from the localization units to the respective retroreflectors at N measuring times. With M localization units, the following condition can apply to the number N of measurement times $$\text{N}\cdot \left(\mathrm{3rd}+\text{M}\right)\ge \mathrm{3rd}\cdot \text{M}+\text{N}\cdot \mathrm{3rd}\cdot \mathrm{3rd}$$

$$\text{N}\cdot \left(\mathrm{3rd}+\text{M}-\text{3rd}+\text{3rd}\right)\ge \mathrm{3rd}\cdot \text{M}$$

$$\text{N}\cdot \ge \frac{\mathrm{3rd}\cdot M}{\mathrm{3rd}+M-\mathrm{3rd}\cdot \mathrm{3rd}}$$

durchzuführen. Aus den 21 Messzeitpunkten ergeben sich bei 7 Lokalisierungseinheiten pro Messung 3 + M = 10 Gleichungen sowie 3 M + 3 3 Unbekannte für die erste Messung und jeweils 3·3 Unbekannte für jede weitere Messung, so dass sich bei 21 Messungen 210 Gleichungen mit 210 Unbekannten ergeben und das Gleichungssystem demnach eindeutig lösbar ist.For M = 7 localization units, the measuring device can be set up to measure the distances from the localization units to the respective retroreflectors at N measuring times $$\text{N}\ge \frac{\mathrm{21st}}{\mathrm{10th}-9}=\mathrm{21st}$$

perform. From the 21st Measurement times for 7 localization units per measurement result in 3 + M = 10 equations and 3 M + 3 3 unknowns for the first measurement and 3 · 3 unknowns for each subsequent measurement, so that at 21st Measurements 210 Equations with 210 unknowns result and the system of equations is therefore clearly solvable.

der Lokalisierungseinheit und den gemessenen Abständen ΔLj folgendes Gleichungssystem ergibt: $${\left({\text{x}}_{\text{1}}-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_{\text{1}}-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_{\text{1}}-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_1{}^2$$

$${\left({\text{x}}_{\text{2}}-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_2-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_2-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_2{}^2$$

$${\left({\text{x}}_{\text{3}}-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_3-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_3-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_3{}^2$$

$${\left({\text{x}}_4-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_{\text{4}}-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_{\text{4}}-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_4{}^2$$

$${\left({\text{x}}_5-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_{\text{5}}-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_{\text{5}}-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_5{}^2$$

$${\left({\text{x}}_{\text{6}}-{\text{x}}_{\text{tr}}\right)}^2+{\left({\text{y}}_{\text{6}}-{\text{y}}_{\text{tr}}\right)}^2+{\left({\text{z}}_{\text{6}}-{\text{z}}_{\text{tr}}\right)}^2=\Delta {\text{L}}_6{}^2$$

The evaluation unit can be set up to carry out a calibration, in particular for determining the location vectors of the localization units. The evaluation unit can be set up to determine the spatial positions of the localization units during calibration. The measuring device can have six localization units and three retroreflectors. The control unit can be set up to align the localization units in the calibration with a single retroreflector. The distance can first be used to determine the position of one of the localization units relative to one of the reflectors ΔLj the localization unit to the retroreflector to a total 6 Measurement times, marked with j = 1 to 6, can be determined so that there are components for the location vector $\overrightarrow{Xtr}$

the localization unit and the measured distances ΔLj the following system of equations results: $${\left({\text{x}}_{\text{1}}-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\text{1}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\text{1}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\mathrm{<figure-callout\; id="1"\; label="\Delta \; L"\; filenames="DE102018220088A1\_0058.png,DE102018220088A1\_0059.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\text{L}}_{}{}_1{}^{\mathrm{2nd}}$$

$${\left({\text{x}}_{\text{2nd}}-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\mathrm{2nd}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\mathrm{2nd}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\Delta {\text{L}}_{\mathrm{2nd}}{}^{\mathrm{2nd}}$$

$${\left({\text{x}}_{\text{3rd}}-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\mathrm{3rd}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\mathrm{3rd}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\Delta {\text{L}}_{\mathrm{3rd}}{}^{\mathrm{2nd}}$$

$${\left({\text{x}}_{\mathrm{4th}}-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\text{4th}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\text{4th}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\Delta {\text{L}}_{\mathrm{4th}}{}^{\mathrm{2nd}}$$

$${\left({\text{x}}_5-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\text{5}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\text{5}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\mathrm{<figure-callout\; id="5"\; label="\Delta \; L"\; filenames="DE102018220088A1\_0059.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\text{L}}_{}{}_5{}^{\mathrm{2nd}}$$

$${\left({\text{x}}_{\text{6}}-{\text{x}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\text{6}}-{\text{y}}_{\text{tr}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\text{6}}-{\text{e.g.}}_{\text{tr}}\right)}^{\mathrm{2nd}}=\mathrm{<figure-callout\; id="6"\; label="\Delta \; L"\; filenames="DE102018220088A1\_0059.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\text{L}}_{}{}_6{}^{\mathrm{2nd}}$$

des einen Retroreflektors zu den Messzeitpunkten j sein. Weiter können x_tr, y_tr und z_tr die Vektorkomponenten des Vektors $\overrightarrow{Xtr}$

der Lokalisierungseinheit sein. In Vektorschreibweise ergibt sich: $$\begin{array}{cc}\Vert \left(\begin{array}{c}{x}_j\\ y_j\\ z_j\end{array}\right)-\left(\begin{array}{c}{x}_{tr}\\ y_{tr}\\ z_{tr}\end{array}\right)\Vert =\Delta {\text{L}}_j& \text{mit j}=\text{1 bis 6}\end{array}$$

was auch folgendermaßen geschrieben werden kann: $$\begin{array}{cc}\Vert \overrightarrow{Xj}-\overrightarrow{Xtr}\Vert =\Delta {\text{L}}_j& \text{mit j}=\text{1 bis 6}\end{array}$$

Here x _j with j = 1 to 6 can be the vector components of the location vector $\overrightarrow{xj}$

of the one retroreflector at the measurement times j. Furthermore, x _tr , y _tr and z _{tr can be} the vector components of the vector $\overrightarrow{Xtr}$

the localization unit. In vector notation: $$\begin{array}{cc}\Vert \left(\begin{array}{c}{x}_j\\ y_j\\ {\mathrm{e.g.}}_j\end{array}\right)-\left(\begin{array}{c}{x}_{tr}\\ y_{tr}\\ {\mathrm{e.g.}}_{tr}\end{array}\right)\Vert =\Delta {\text{L}}_j& \text{with j}=\text{1 to 6}\end{array}$$

which can also be written as follows: $$\begin{array}{cc}\Vert \overrightarrow{Xj}-\overrightarrow{Xtr}\Vert =\Delta {\text{L}}_j& \text{with j}=\text{1 to 6}\end{array}$$

und $$\Delta {\text{L}}_{\text{ji}}{}^2={\left({\text{x}}_{\text{j}}-{\text{x}}_{\text{tr i}}\right)}^2+{\left({\text{y}}_{\text{j}}-{\text{y}}_{\text{tr i}}\right)}^2+{\left({\text{z}}_{\text{z}}-{\text{x}}_{\text{tr i}}\right)}^2$$

For the measuring device with a number of i localization units, which can all be directed to one of the retroreflectors for calibration, and j measuring times, this results in: $$\begin{array}{cc}\Vert \left(\begin{array}{c}{x}_j\\ y_j\\ {\mathrm{e.g.}}_j\end{array}\right)-\left(\begin{array}{c}{x}_{tri}\\ y_{tri}\\ {\mathrm{e.g.}}_{tri}\end{array}\right)\Vert =\Delta {\text{L}}_{ji}& \end{array}$$

and $$\Delta {\text{L}}_{\text{ji}}{}^{\mathrm{2nd}}={\left({\text{x}}_{\text{j}}-{\text{x}}_{\text{tr i}}\right)}^{\mathrm{2nd}}+{\left({\text{y}}_{\text{j}}-{\text{y}}_{\text{tr i}}\right)}^{\mathrm{2nd}}+{\left({\text{e.g.}}_{\text{e.g.}}-{\text{x}}_{\text{tr i}}\right)}^{\mathrm{2nd}}$$

The measuring device, in particular the evaluation unit, can be set up to determine the distances ΔL _ji between the respective localization unit and the one retroreflector from the measurement signals of the localization units. The evaluation unit can be set up to determine the location vectors of the localization units by solving the system of equations (24). An equation system (24) results in j · i equations with 3 · i + 3 · j unknowns. When using the measuring device with i = 6 localization units, this results in j · 6 equations and 3 · 6 + 3 · j unknowns. The measuring device can be set up to determine the distances ΔL _i at j measurement times, the number of measurement times fulfilling the condition j · 6 3 3 · 6 + 3 · j. The evaluation unit can be set up to uniquely solve the system of equations (24) at j 6 6 measurement times, for example in the form of one measurement and five repetitions.

Furthermore, the measuring device can be set up to correct an optical path length that fluctuates due to fluctuating air column properties. In particular, the localization units of the measuring device can be designed as FMCW LIDAR sensors. The determination of distances between the FMCW-LIDAR sensors and the at least one retroreflector illuminated by the FMCW-LIDAR sensor can be carried out repeatedly. The measurement of the distances with the FMCW-LIDAR sensors can be carried out quickly, so that changes in the optical path length between the FMCW-LIDAR sensors and the retroreflectors, which can be based on fluctuations in the air column properties, can be determined and corrected from at least two successive determinations of the distances could be. In particular, the changes in the optical path length can be slow compared to the successive determinations of the distances between the FMCW-LIDAR sensors and the retroreflectors. This represents a further great advantage of the measuring device described with localization units in the form of FMCW LIDAR sensors.

In a further aspect of the present invention, a coordinate measuring machine for measuring at least one workpiece is proposed. The coordinate measuring machine comprises at least one measuring device according to one of the embodiments described above or according to one of the embodiments described below. Furthermore, the coordinate measuring machine has at least one measurement object, which is set up to scan the workpiece. In particular, the measurement object can have the localization units or the retroreflectors. In the context of the present invention, a “coordinate measuring device” can basically be understood to mean any device which is set up to record at least one spatial coordinate of an object, for example an x, y or z coordinate of a Cartesian coordinate system or a spherical coordinate of a spherical coordinate system or determine. Within the scope of the present invention, “measuring” an object can be understood to mean determining, deriving and / or registering at least one property of the object. In particular, the property can be a distance of the object from the measurement object and / or a position, a position or a position of the object in space or relative to the measurement object. Furthermore, the property can also be a condition, for example a surface condition. In the context of the present invention, a “workpiece” can basically be understood to mean any object whose measurement is necessary or desired, for example, as part of a work process, in particular for aligning the object. In the context of the present invention, “scanning” of the workpiece can basically be understood to mean that the measurement object interacts with the workpiece. This can be, for example, tactile or optical scanning. The interaction between the object to be measured and the workpiece can also mean machining, or general modification and / or manipulation, for example a CNC-controlled precision machining or joining and / or assembly step.

1. a) Bereitstellen des mindestens einen Messobjekts, wobei das Messobjekt die Retroreflektoren oder die Lokalisierungseinheiten aufweist;
2. b) Erzeugen des mindestens einen Beleuchtungslichtstrahls mit jeder der Lokalisierungseinheiten und Beleuchten der Retroreflektoren mit den Beleuchtungslichtstrahlen, wobei jede der Lokalisierungseinheiten mindestens einen der Retroreflektoren beleuchtet, wobei jeder der Retroreflektoren von mindestens einer Lokalisierungseinheit beleuchtet wird;
3. c) Empfangen jeweils mindestens eines der von den Retroreflektoren reflektierten Lichtstrahlen und Erzeugen mindestens eines Messsignals mit jeder der Lokalisierungseinheiten, insbesondere aus den empfangenen Lichtstahlen, wobei jede der Lokalisierungseinheiten den reflektierten Lichtstrahl des von ihr beleuchteten Retroreflektors empfängt; und
4. d) Bestimmen der räumlichen Position und Orientierung des Messobjekts aus den Messsignalen der Lokalisierungseinheiten mit der mindestens einen Auswerteeinheit.

In a further aspect of the present invention, a method for measuring at least one measurement object with a measurement device according to one of the embodiments described above or according to one of the embodiments described below is proposed. The process includes the following steps:

1. a) providing the at least one measurement object, the measurement object having the retroreflectors or the localization units;
2. b) generating the at least one illuminating light beam with each of the locating units and illuminating the retroreflectors with the illuminating light beams, each of the locating units illuminating at least one of the retroreflectors, each of the retroreflectors being illuminated by at least one locating unit;
3. c) receiving at least one of the light beams reflected by the retroreflectors and generating at least one measurement signal with each of the localization units, in particular from the received light beams, each of the localization units receiving the reflected light beam from the retroreflector illuminated by it; and
4. d) determining the spatial position and orientation of the measurement object from the measurement signals of the localization units with the at least one evaluation unit.

With regard to embodiments and definitions, reference can be made to the above description of the measuring device and the coordinate measuring device. The method steps can be carried out in the order specified, it being possible for one or more of the steps to be carried out at least in part at the same time and for one or more of the steps to be repeated several times. In addition, regardless of whether or not they are mentioned in the present application, further steps can also be carried out.

In step b), the method can include aligning each of the localization units or at least one of the localization units such that the retroreflectors are illuminated with the illuminating light beams, each of the localization units illuminating at least one of the retroreflectors, each of the retroreflectors being illuminated by at least one localization unit .

With regard to the determination of the spatial position and orientation of the measurement object with the evaluation unit in step d), reference can be made to the multilateration method described above.

1. A) Beleuchten eines der Retroreflektoren mit jeder der Lokalisierungseinheiten;
2. B) Empfangen der von dem Retroreflektor reflektierten Lichtstrahlen und Erzeugen von Messsignalen mit den Lokalisierungseinheiten; und
3. C) Bestimmen von einer räumlichen Position für jede der Lokalisierungseinheiten aus den Messsignalen der Lokalisierungseinheiten mit der Auswerteeinheit.

In particular, the method can furthermore have at least one calibration step, the calibration step comprising the following method steps:

1. A) illuminating one of the retroreflectors with each of the location units;
2. B) receiving the light beams reflected by the retroreflector and generating measurement signals with the localization units; and
3. C) Determining a spatial position for each of the localization units from the measurement signals of the localization units with the evaluation unit.

With regard to determining the spatial position of the localization units with the evaluation unit, reference can be made to the calibration described above, in particular to equations (15) to (24).

In particular, in step A) a single one of the retroreflectors can be illuminated by all localization units. The method step A) of the calibration step can further comprise aligning each of the localization units or at least a part of the localization units such that one, in particular a single one, of the retroreflectors is illuminated by at least one illuminating light beam from all localization units.

Furthermore, in step B) each of the localization units can receive at least one of the light beams reflected by the retroreflector and generate a measurement signal, in particular from or according to the received reflected light beam. Furthermore, steps A) and B) can be repeated several times, in particular at least five times, for example exactly five times, so that steps A) and B) are carried out at least six times, for example exactly six times. This may make it possible to uniquely solve at least one system of equations for determining location vectors of the localization units, for example in the course of method step C) of the calibration method. In particular, step C) can further comprise determining distances between the one retroreflector and the localization units.

The calibration step can precede step b) of the method for measuring at least one measurement object. Accordingly, step b) follows step C) of the calibration step. In particular, illuminating the retroreflectors with the illuminating light beams in step b), each of the localization units illuminating at least one of the retroreflectors, each of the retroreflectors being illuminated by at least one localization unit, after illuminating the one of the retroreflectors with each of the localization units in step A) realign the localization units.

Furthermore, in the context of the present invention, a computer program is proposed which, when running on a computer or computer network, executes at least step d) of the method for measuring the measurement object in one of its configurations.

Furthermore, the computer program can be set up to execute method step C) of the calibration step when it is running on a computer or computer network.

Furthermore, in the context of the present invention, a computer program with program code means is proposed in order to carry out at least step d) of the method according to the invention in one of its configurations if the program is executed on a computer or computer network. Furthermore, the computer program can be set up with the program code means to carry out method step C) of the calibration step when the program is executed on a computer or computer network. In particular, the program code means can be stored on a computer-readable data carrier.

The devices according to the invention, in particular the measuring device and the coordinate measuring machine, and the method according to the invention have numerous advantages over known devices and methods.

Usual methods for determining the spatial position and orientation of a measurement object, which can also be referred to as 6D information, require a large number of measurements and / or a large number of retroreflectors and / or localization units. The devices according to the invention and the method according to the invention can be set up to determine the position and the orientation of the measurement object simultaneously and with a significantly smaller number of retroreflectors and / or localization units.

Furthermore, the use of FMCW-LIDAR sensors as localization units of the devices and the method according to the invention can be particularly advantageous. In particular, the determination of the spatial position and orientation of the measurement object can be based on a distance measurement. In contrast to tracking with non-absolutely measuring localization units, in which a reconstruction of a 3D trajectory of the retroreflector in the room is only possible by chaining several measurements, the use of FMCW-LIDAR sensors can interrupt the line of sight between the FMCW-LIDAR- Sensors and the retroreflectors irradiated by them are almost without consequences and only lead to the loss of the determination of the spatial position and orientation of the measurement object during the interruption. After the interruption has been eliminated, it may in particular be possible for the determination of the spatial position and orientation of the measurement object to be resumed, in particular without additional measures being necessary for this.

Furthermore, it may be possible that the devices and methods according to the invention enable a highly precise determination of the spatial position and orientation of the measurement object, in particular a highly precise determination of the location and position of the measurement object in space, for example when using at least three localization units, in particular FMCW -LIDAR sensors, and at least six, especially seven, retroreflectors.

• Ausführungsform 1: Messvorrichtung zur Bestimmung von mindestens einer räumlichen Position und Orientierung mindestens eines Messobjekts, wobei die Messvorrichtung mindestens drei Retroreflektoren und mindestens sechs Lokalisierungseinheiten oder mindestens drei Lokalisierungseinheiten und mindestens sechs Retroreflektoren aufweist, wobei jede der Lokalisierungseinheiten eingerichtet ist, mindestens einen Beleuchtungslichtstrahl zu erzeugen und mindestens einen Retroreflektor mit dem Beleuchtungslichtstrahl zu beleuchten, wobei jeder der Retroreflektoren von mindestens einer der Lokalisierungseinheiten beleuchtet ist, wobei jede der Lokalisierungseinheiten eingerichtet ist, von dem von ihr beleuchteten Retroreflektor mindestens einen reflektierten Lichtstrahl zu empfangen und mindestens ein Messsignal zu erzeugen, wobei die Messvorrichtung weiterhin eine Auswerteeinheit aufweist, wobei die Auswerteeinheit eingerichtet ist, aus den Messsignalen der Lokalisierungseinheiten die räumliche Position und Orientierung des Messobjekts zu bestimmen.
• Ausführungsform 2: Messvorrichtung nach der vorhergehenden Ausführungsform, wobei jede der Lokalisierungseinheiten mindestens ein Element umfasst ausgewählt aus der Gruppe bestehend aus: einem Lasertracer; einem Lasertracker; einem LIDAR-Sensor, bevorzugt einem FMCW-LIDAR-Sensor.
• Ausführungsform 3: Messvorrichtung nach der vorhergehenden Ausführungsform, wobei die Messvorrichtung mindestens drei Retroreflektoren und mindestens sechs Lokalisierungseinheiten aufweist, wobei jede der Lokalisierungseinheiten den mindestens einen Lasertracer oder mindestens einen Lasertracker umfasst, oder wobei die Messvorrichtung mindestens drei Lokalisierungseinheiten und mindestens sechs Retroreflektoren aufweist, wobei jede der Lokalisierungseinheiten den mindestens einen LIDAR-Sensor umfasst.
• Ausführungsform 4: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Messvorrichtung genau drei Retroreflektoren und genau sechs Lokalisierungseinheiten aufweist, wobei einer der Retroreflektoren von maximal vier der Lokalisierungseinheiten beleuchtet ist.
• Ausführungsform 5: Messvorrichtung nach der vorhergehenden Ausführungsform, wobei die Lokalisierungseinheiten und die Retroreflektoren in einer der folgenden Konfigurationen zueinander angeordnet und/oder ausgerichtet sind: vier Lokalisierungseinheiten auf einen ersten Retroreflektor, eine Lokalisierungseinheit auf einen zweiten Retroreflektor und eine Lokalisierungseinheit auf einen dritten Retroreflektor (vier-eins-eins); drei Lokalisierungseinheiten auf den ersten Retroreflektor, zwei Lokalisierungseinheiten auf den zweiten Retroreflektor und eine Lokalisierungseinheit auf den dritten Retroreflektor (drei-zwei-eins); zwei Lokalisierungseinheiten auf den ersten Retroreflektor, zwei Lokalisierungseinheiten auf den zweiten Retroreflektor und zwei Lokalisierungseinheiten auf den dritten Retroreflektor (zwei-zwei-zwei).
• Ausführungsform 6: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Messvorrichtung mindestens drei Retroreflektoren und mindestens sieben Lokalisierungseinheiten oder mindestens drei Lokalisierungseinheiten und mindestens sieben Retroreflektoren aufweist.
• Ausführungsform 7: Messvorrichtung nach der vorhergehenden Ausführungsform, wobei die Messvorrichtung genau drei Retroreflektoren und genau sieben Lokalisierungseinheiten aufweist, wobei einer der Retroreflektoren von maximal fünf der Lokalisierungseinheiten beleuchtet ist.
• Ausführungsform 8: Messvorrichtung nach der vorhergehenden Ausführungsform, wobei die Lokalisierungseinheiten und die Retroreflektoren in einer der folgenden Konfigurationen zueinander angeordnet und/oder ausgerichtet sein: fünf Lokalisierungseinheiten auf den ersten Retroreflektor, eine Lokalisierungseinheit auf den zweiten Retroreflektor und eine Lokalisierungseinheit auf den dritten Retroreflektor (fünf-eins-eins); vier Lokalisierungseinheiten auf den ersten Retroreflektor, zwei Lokalisierungseinheiten auf den zweiten Retroreflektor und eine Lokalisierungseinheit auf den dritten Retroreflektor (vier-zwei-eins); drei Lokalisierungseinheiten auf den ersten Retroreflektor, drei Lokalisierungseinheiten auf den zweiten Retroreflektor und eine Lokalisierungseinheit auf den dritten Retroreflektor (drei-drei-eins); drei Lokalisierungseinheiten auf den ersten Retroreflektor, zwei Lokalisierungseinheiten auf den zweiten Retroreflektor und zwei Lokalisierungseinheiten auf den dritten Retroreflektor (drei-zwei-zwei).
• Ausführungsform 9: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Retroreflektoren an dem Messobjekt angebracht sind und die Lokalisierungseinheiten in einem das Messobjekt umgebenden Raum angeordnet sind und/oder die Lokalisierungseinheiten an dem Messobjekt angebracht sind und die Retroreflektoren in dem das Messobjekt umgebenden Raum angeordnet sind.
• Ausführungsform 10: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei eine relative Position der Retroreflektoren zueinander und/oder eine relative Position der Lokalisierungseinheiten zueinander bekannt ist.
• Ausführungsform 11: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Messvorrichtung weiterhin eine Steuereinheit aufweist, wobei die Steuereinheit eingerichtet ist, die Lokalisierungseinheiten relativ zu den Retroreflektoren auszurichten.
• Ausführungsform 12: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Messvorrichtung eingerichtet ist, Geschwindigkeiten der Retroreflektoren zu bestimmen.
• Ausführungsform 13: Messvorrichtung nach einer der vorhergehenden Ausführungsformen, wobei die Messvorrichtung eingerichtet ist, eine aufgrund von schwankenden Luftsäuleneigenschaften schwankende optische Pfadlänge zu korrigieren.
• Ausführungsform 14: Koordinatenmessgerät zur Vermessung mindestens eines Werkstücks, wobei das Koordinatenmessgerät mindestens eine Messvorrichtung nach einem der vorhergehenden, eine Messvorrichtung betreffenden Ansprüche umfasst, wobei das Koordinatenmessgerät mindestens ein Messobjekt aufweist, welches eingerichtet ist das Werkstück abzutasten.
• Ausführungsform 15: Koordinatenmessgerät nach der vorhergehenden Ausführungsform, wobei das Messobjekt die Lokalisierungseinheiten oder die Retroreflektoren aufweist.
• Ausführungsform 16: Verfahren zur Vermessung mindestens eines Messobjekts mit einer Messvorrichtung nach einem der vorhergehenden, eine Messvorrichtung betreffenden Ansprüche, wobei das Verfahren die folgenden Schritte umfasst:
  1. a) Bereitstellen des mindestens einen Messobjekts, wobei das Messobjekt die Retroreflektoren oder die Lokalisierungseinheiten aufweist;
  2. b) Erzeugen des mindestens einen Beleuchtungslichtstrahls mit jeder der Lokalisierungseinheiten und Beleuchten der Retroreflektoren mit den Beleuchtungslichtstrahlen, wobei jede der Lokalisierungseinheiten mindestens einen der Retroreflektoren beleuchtet, wobei jeder der Retroreflektoren von mindestens einer Lokalisierungseinheit beleuchtet wird;
  3. c) Empfangen jeweils mindestens eines der von den Retroreflektoren reflektierten Lichtstrahlen und Erzeugen mindestens eines Messsignals mit jeder der Lokalisierungseinheiten, wobei jede der Lokalisierungseinheiten den reflektierten Lichtstrahl des von ihr beleuchteten Retroreflektors empfängt; und
  4. d) Bestimmen der räumlichen Position und Orientierung des Messobjekts aus den Messsignalen der Lokalisierungseinheiten mit der mindestens einen Auswerteeinheit.
• Ausführungsform 17: Verfahren nach der vorhergehenden Ausführungsform, wobei das Verfahren weiterhin mindestens einen Kalibrierungsschritt aufweist, wobei der Kalibrierungsschritt die folgenden Verfahrensschritte umfasst:
  1. A) Beleuchten eines der Retroreflektoren mit jeder der Lokalisierungseinheiten;
  2. B) Empfangen der von dem Retroreflektor reflektierten Lichtstrahlen und Erzeugen von Messsignalen mit den Lokalisierungseinheiten; und
  3. C) Bestimmen von einer räumlichen Position für jede der Lokalisierungseinheiten aus den Messsignalen der Lokalisierungseinheiten mit der Auswerteeinheit;

In summary, the following embodiments are particularly preferred in the context of the present invention:

• Embodiment 1: Measuring device for determining at least one spatial position and orientation of at least one measurement object, the measuring device having at least three retroreflectors and at least six localization units or at least three localization units and at least six retroreflectors, each of the localization units being set up to generate at least one illuminating light beam and to illuminate at least one retroreflector with the illuminating light beam, each of the retroreflectors being illuminated by at least one of the localization units, each of the localization units being set up to receive at least one reflected light beam from the retroreflector illuminated by it and to generate at least one measurement signal, the measuring device furthermore has an evaluation unit, wherein the evaluation unit is set up, the spatial from the measurement signals of the localization units Determine the position and orientation of the measurement object.
• Embodiment 2: Measuring device according to the preceding embodiment, each of the localization units comprising at least one element selected from the group consisting of: a laser tracer; a laser tracker; a LIDAR sensor, preferably an FMCW LIDAR sensor.
• Embodiment 3: Measuring device according to the preceding embodiment, wherein the measuring device has at least three retroreflectors and at least six localization units, each of the localization units comprising the at least one laser tracer or at least one laser tracker, or wherein the measuring device has at least three localization units and at least six retroreflectors, each of which of the localization units comprises the at least one LIDAR sensor.
• Embodiment 4: Measuring device according to one of the preceding embodiments, the measuring device having exactly three retroreflectors and exactly six localization units, one of the retroreflectors being illuminated by a maximum of four of the localization units.
• Embodiment 5: Measuring device according to the preceding embodiment, the localization units and the retroreflectors being arranged and / or aligned with one another in one of the following configurations: four localization units on a first retroreflector, one localization unit on a second retroreflector and one localization unit on a third retroreflector (four -one one); three localization units on the first retroreflector, two localization units on the second retroreflector and one localization unit on the third retroreflector (three-two-one); two localization units on the first retroreflector, two localization units on the second retroreflector and two localization units on the third retroreflector (two-two-two).
• Embodiment 6: Measuring device according to one of the preceding embodiments, the measuring device having at least three retroreflectors and at least seven localization units or at least three localization units and at least seven retroreflectors.
• Embodiment 7: Measuring device according to the preceding embodiment, the measuring device having exactly three retroreflectors and exactly seven localization units, one of the retroreflectors being illuminated by a maximum of five of the localization units.
• Embodiment 8: Measuring device according to the preceding embodiment, the localization units and the retroreflectors being arranged and / or aligned with one another in one of the following configurations: five localization units on the first retroreflector, one localization unit on the second retroreflector and one localization unit on the third retroreflector (five -one one); four localization units on the first retroreflector, two localization units on the second retroreflector and one localization unit on the third retroreflector (four-two-one); three localization units on the first retroreflector, three localization units on the second retroreflector and one localization unit on the third retroreflector (three-three-one); three localization units on the first retroreflector, two localization units on the second retroreflector and two localization units on the third retroreflector (three-two-two).
• Embodiment 9: Measuring device according to one of the preceding embodiments, wherein the retroreflectors are attached to the measurement object and the localization units are arranged in a space surrounding the measurement object and / or the localization units are attached to the measurement object and the retroreflectors are arranged in the space surrounding the measurement object .
• Embodiment 10: Measuring device according to one of the preceding embodiments, a relative position of the retroreflectors to one another and / or a relative position of the localization units to one another being known.
• Embodiment 11: Measuring device according to one of the preceding embodiments, the measuring device further comprising a control unit, the control unit being set up to align the localization units relative to the retroreflectors.
• Embodiment 12: Measuring device according to one of the preceding embodiments, the measuring device being set up to determine speeds of the retroreflectors.
• Embodiment 13: Measuring device according to one of the preceding embodiments, the measuring device being set up to correct an optical path length which fluctuates on account of fluctuating air column properties.
• Embodiment 14: Coordinate measuring device for measuring at least one workpiece, the coordinate measuring device at least one measuring device according to one of the The preceding claims relating to a measuring device, wherein the coordinate measuring machine has at least one measuring object, which is set up to scan the workpiece.
• Embodiment 15: Coordinate measuring device according to the preceding embodiment, the measurement object having the localization units or the retroreflectors.
• Embodiment 16: Method for measuring at least one measurement object with a measuring device according to one of the preceding claims relating to a measuring device, the method comprising the following steps:
  1. a) providing the at least one measurement object, the measurement object having the retroreflectors or the localization units;
  2. b) generating the at least one illuminating light beam with each of the locating units and illuminating the retroreflectors with the illuminating light beams, each of the locating units illuminating at least one of the retroreflectors, each of the retroreflectors being illuminated by at least one locating unit;
  3. c) receiving at least one of the light beams reflected by the retroreflectors and generating at least one measurement signal with each of the localization units, each of the localization units receiving the reflected light beam from the retroreflector illuminated by it; and
  4. d) determining the spatial position and orientation of the measurement object from the measurement signals of the localization units with the at least one evaluation unit.
• Embodiment 17: Method according to the preceding embodiment, the method further comprising at least one calibration step, the calibration step comprising the following method steps:
  1. A) illuminating one of the retroreflectors with each of the location units;
  2. B) receiving the light beams reflected by the retroreflector and generating measurement signals with the localization units; and
  3. C) determining a spatial position for each of the localization units from the measurement signals of the localization units with the evaluation unit;

Figure list

Further details and features of the invention result from the following description of preferred exemplary embodiments, in particular in connection with the subclaims. The respective features can be implemented individually or in combination with one another. The invention is not restricted to the exemplary embodiments. The exemplary embodiments are shown schematically in the figures. The same reference numerals in the individual figures denote the same or functionally identical or corresponding in terms of their functions elements.

• 1 eine schematische Darstellung eines ersten Ausführungsbeispiels einer erfindungsgemäßen Messvorrichtung;
• 2 eine schematische Darstellung eines weiteren Ausführungsbeispiels der Messvorrichtung; und
• 3 eine schematische Darstellung eines erfindungsgemäßen Verfahrens.

Show in detail:

• 1 a schematic representation of a first embodiment of a measuring device according to the invention;
• 2nd a schematic representation of a further embodiment of the measuring device; and
• 3rd a schematic representation of a method according to the invention.

Embodiments

1 shows a schematic representation of a first embodiment of a measuring device according to the invention 110 for determining at least one spatial position and orientation of at least one measurement object 112 . As in 1 can see the measuring device 110 especially three retroreflectors 114 and six localization units 116 exhibit. Each of the localization units 116 is set up at least one illuminating light beam 117 to generate and at least one retroreflector 114 with the illuminating light beam 117 to illuminate, each of the retroreflectors 114 from at least one of the localization units 116 is illuminated. Each of the localization units 116 is set up by the illuminated retroreflector 114 at least one reflected light beam 121 to receive and generate at least one measurement signal. The illuminating light rays 117 and the reflected rays of light 121 are in the 1 and 2nd each symbolized by double arrows. The measuring device 110 also has an evaluation unit 118 on, the evaluation unit 118 is set up, from the measurement signals of the localization units 116 the spatial position and orientation of the measurement object 112 to determine. Each of the localization units can do this 116 with the evaluation unit 118 , especially with one cable each 119 , be connected. However, wireless connections are also conceivable.

As in the 1 and 2nd can see the localization units 116 especially as a laser tracer 120 , be trained. One of the retroreflectors 114 can be from a maximum of four of the six localization units 116 be illuminated. The remaining at least two localization units 116 can on the other two retroreflectors 114 be aligned and illuminate them. Other orientations of the localization units 116 on the retroreflectors 114 are conceivable. In particular, when using three retroreflectors 114 and six localization units 116 the localization units 116 and the retroreflectors 114 be arranged and / or aligned with one another in one of the following configurations: four localization units 116 on a first retroreflector 114 , a localization unit 116 to a second retroreflector 114 and a localization unit 116 to a third retroreflector 114 (four-one-one); three localization units 116 on the first retroreflector 114 , two localization units 116 to the second retroreflector 114 and a localization unit 116 to the third retroreflector 114 (three two one); two localization units 116 on the first retroreflector 114 , two localization units 116 to the second retroreflector 114 and two localization units 116 to the third retroreflector 114 (two-two-two).

As in 1 shown, one of the three retroreflectors 114 of three of the localization units 116 be illuminated, one of the two further retroreflectors 114 can be from two more of the localization units 116 be lit and the rest of the retroreflectors 114 can of the remaining of the localization unit 116 be illuminated. The three-two-one configuration is in 1 to see and should be described here again as an example for a better understanding of the configurations. The three retroreflectors 114 can be the first retroreflector 136 , second retroreflector 138 and third retroreflector 140 be designated. The six localization units 116 can be the first localization unit 142 , second localization unit 144 , third localization unit 146 , fourth localization unit 148 , fifth localization unit 150 and sixth localization unit 152 be designated. In this configuration, for example, the first retroreflector 136 from the first localization unit 142 , the second localization unit 144 and the third localization unit 146 be illuminated. The second retroreflector 138 can from the fourth localization unit 148 and the fifth localization unit 150 be illuminated. The third retroreflector 140 can from the sixth localization unit 116 be illuminated. This corresponds to the configuration three-two-one and is in 1 to see. It should be noted that in this as well as in the following examples the atomic numbers of the retroreflectors 114 and localization units 116 merely to illustrate how many of the localization units 116 together on the same retroreflector 114 can be aligned. Accordingly, the location units 116 interchangeable or interchangeable. Even the retroreflectors 114 can be interchangeable or interchangeable. Based on the above example, the second retroreflector can, for example 138 from the sixth localization unit 152 be illuminated and the third retroreflector 140 can from the fifth localization unit 150 be illuminated. Other combinations are possible.

The retroreflectors 114 can on the measurement object 112 be arranged and the localization units 116 can be arranged in the room, for example in a room surrounding or encompassing the measurement object. In particular, a relative position, in particular a spatial position and / or a distance, of the retroreflectors to one another, as in FIGS 1 and 2nd identified by dashed lines. Furthermore, the measuring device 112 a control unit 154 have, wherein the control unit can be set up, the localization units 116 relative to the retroreflectors 114 to align. In particular, it can be the measurement object 112 around a tool 122 act. In particular, the retroreflectors 114 so on the tool 122 be appropriate that a geometric center of the tool and a geometric center of a triangle formed by the three retroreflectors can coincide, as in FIGS 1 and 2nd to see.

2nd shows a schematic representation of a further embodiment of the measuring device 110 comprising three retroreflectors 114 and seven localization units, one of the retroreflectors 114 of a maximum of five of the localization units 116 can be illuminated. The remaining at least two localization units 116 can on the other two retroreflectors 114 be aligned and illuminate them. Other orientations of the localization units 116 on the retroreflectors 114 are conceivable. In particular, when using three retroreflectors 114 and seven localization units 116 the localization units 116 and the retroreflectors 114 be arranged and / or aligned with one another in one of the following configurations: five Localization units 116 on the first retroreflector 114 , a localization unit 116 to the second retroreflector 114 and a localization unit 116 to the third retroreflector 114 (five-one-one); four localization units 116 on the first retroreflector 114 , two localization units 116 to the second retroreflector 114 and a localization unit 116 to the third retroreflector 114 (four-two-one); three localization units 116 on the first retroreflector 114 , three localization units 116 to the second retroreflector 114 and a localization unit 116 to the third retroreflector 114 (three-three-one); three localization units 116 on the first retroreflector 114 , two localization units 116 to the second retroreflector 114 and two localization units 116 to the third retroreflector 114 (three-two-two).

As in 2nd shown, one of the three retroreflectors 114 of three of the localization units 116 be illuminated, one of the two further retroreflectors 114 can be from two more of the localization units 116 be lit and the rest of the retroreflectors 114 can be from the two remaining of the localization units 116 be illuminated. The configuration three-two-two is in 2nd to see and should be described here again as an example for a better understanding of the configurations. The three retroreflectors 114 can as the first retroreflector 136 , the second retroreflector 138 and the third retroreflector 140 be designated. The seven localization units 116 can as the first localization unit 142 , the second localization unit 144 , the third localization unit 146 , the fourth localization unit 148 , the fifth localization unit 150 , the sixth localization unit 152 and seventh localization unit 156 be designated. In this configuration, for example, the first retroreflector 136 from the first localization unit 142 , the second localization unit 144 and the third localization unit 146 be illuminated. The second retroreflector 138 can from the fourth localization unit 148 and the fifth localization unit 150 be illuminated. The third retroreflector 140 can from the sixth localization unit 152 and the seventh localization unit 156 be illuminated. Other combinations and / or exchanges are possible.

In particular, each of the three retroreflectors 114 of at least two localization units 116 be illuminated, for example using the above and in 2nd configuration shown three-two-two. In particular, this can be advantageous since an interruption of a line of sight between only one of the retroreflectors 114 and one of the localization units irradiating it 116 , in particular an interruption of the illuminating light beam 117 and / or the reflected light beam 121 , does not lead to a failure of the measuring device.

1. a) Bereitstellen des mindestens einen Messobjekts 112 , wobei das Messobjekt 112 die Retroreflektoren 114 oder die Lokalisierungseinheiten 116 aufweist;
2. b) Erzeugen des mindestens einen Beleuchtungslichtstrahls 117 mit jeder der Lokalisierungseinheiten 116 und Beleuchten der Retroreflektoren 114 mit den Beleuchtungslichtstrahlen 117, wobei jede der Lokalisierungseinheiten 116 mindestens einen der Retroreflektoren 114 beleuchtet, wobei jeder der Retroreflektoren 114 von mindestens einer Lokalisierungseinheit 116 beleuchtet wird;
3. c) Empfangen jeweils mindestens eines der von den Retroreflektoren 114 reflektierten Lichtstrahlen 121 und Erzeugen mindestens eines Messsignals mit jeder der Lokalisierungseinheiten 116, insbesondere aus den empfangenen Lichtstahlen, wobei jede der Lokalisierungseinheiten 116 den reflektierten Lichtstrahl 121 des von ihr beleuchteten Retroreflektors 114 empfängt; und
4. d) Bestimmen der räumlichen Position und Orientierung des Messobjekts 112 aus den Messsignalen der Lokalisierungseinheiten 116 mit der mindestens einen Auswerteeinheit 118.

3rd shows an embodiment of a method for measuring at least one measurement object 112 with a measuring device 110 according to one of the embodiments described above or according to one of the embodiments explained below. The process includes the following steps:

1. a) Providing the at least one measurement object 112 , the measurement object 112 the retroreflectors 114 or the localization units 116 having;
2. b) generating the at least one illuminating light beam 117 with each of the localization units 116 and lighting the retroreflectors 114 with the illuminating light rays 117 , each of the localization units 116 at least one of the retroreflectors 114 illuminated, with each of the retroreflectors 114 from at least one localization unit 116 is illuminated;
3. c) Receive at least one of each of the retroreflectors 114 reflected light rays 121 and generating at least one measurement signal with each of the localization units 116 , in particular from the light beams received, each of the localization units 116 the reflected light beam 121 of the retroreflector she illuminated 114 receives; and
4. d) Determining the spatial position and orientation of the measurement object 112 from the measurement signals of the localization units 116 with the at least one evaluation unit 118 .

The evaluation unit 118 is set up, the spatial position and orientation of the measurement object 112 from the measurement signals of the localization units 116 to determine. At least one multilateration method can be used to determine the spatial position and orientation of a three-dimensional object. The evaluation unit can in particular 118 be set up, the spatial position and orientation of the measurement object 112 according to the multilateration method already described above, in particular using the equations and systems of equations (1) to (14).

3rd shows a schematic representation of the method, with reference numerals 128 Method step a) denotes, with reference numerals 130 Method step b) denotes, with reference numerals 132 Process step c) and with reference numerals 134 Process step d) designated.

The method steps can be carried out in the order specified, it being possible for one or more of the steps to be carried out at least in part at the same time and for one or more of the steps to be repeated several times. For example, it may be necessary to repeat at least one process step depending on the system design. In addition, regardless of whether they are mentioned in the present application or not, further steps can also be carried out, for example in order to meet the criteria for the solvability of the systems of equations for the clear determination of the 6D information.

1. A) Beleuchten eines der Retroreflektoren 114 mit jeder der Lokalisierungseinheiten 116;
2. B) Empfangen der von dem Retroreflektor 114 reflektierten Lichtstrahlen 121 und Erzeugen von Messsignalen mit den Lokalisierungseinheiten 116; und
3. C) Bestimmen von einer räumlichen Position für jede der Lokalisierungseinheiten 116 aus den Messsignalen der Lokalisierungseinheiten 116 mit der Auswerteeinheit 118.

In particular, the method can include a calibration step, not shown in the figures, the calibration step comprising the following method steps:

1. A) Illuminate one of the retroreflectors 114 with each of the localization units 116 ;
2. B) receiving the from the retroreflector 114 reflected light rays 121 and generating measurement signals with the localization units 116 ; and
3. C) determining a spatial position for each of the location units 116 from the measurement signals of the localization units 116 with the evaluation unit 118 .

The evaluation unit 118 can be set up to carry out a calibration, in particular for determining the location vectors of the localization units 116 . The evaluation unit 118 The spatial positions of the localization units can be set up during calibration 116 to determine. In particular, the evaluation unit 118 be set up to carry out a calibration according to the method already described above, in particular using the equations and systems of equations (15) to (24).

In particular, the calibration step can follow step b) of the method for measuring at least one measurement object 112 go ahead. In particular, the method can include the calibration step if the measuring device used in the method 112 three retroreflectors 114 and six localization units 116 having. In particular, the calibration step can be dispensed with if the measuring device used in the method 110 three retroreflectors and at least seven, especially seven, localization units 116 , having.

In particular, in step A) a single one of the retroreflectors 114 from all localization units 116 be illuminated. Method step A) of the calibration step can furthermore align each of the localization units 116 or at least part of the localization units 116 include such that one of the retroreflectors 114 from all localization units 116 each with at least one illuminating light beam 117 is illuminated. Furthermore, in step B) each of the localization units 116 at least one of the retroreflectors 114 reflected light rays 121 received and generate a measurement signal, in particular from or according to the received, reflected light beam 121 . Furthermore, steps A) and B) can be repeated several times, in particular at least five times, for example five times, so that steps A) and B) are carried out at least six times, for example six times. Method step C) can also be used to solve an equation system with the evaluation unit 118 include, in particular for determining the spatial position for each of the location units 116 from the measurement signals of the localization units 116 . In particular, step C) can furthermore determine the distances between the one retroreflector 114 and the localization units 116 include.

The calibration step can follow step b) of the method for measuring at least one measurement object 112 go ahead. Accordingly, step b) can follow step C) of the calibration step. In particular, the retroreflectors can be illuminated 114 with the illuminating light rays 117 in step b) after illuminating one of the retroreflectors 114 with each of the localization units 116 in step A) realigning the localization units 116 require.

Reference symbol list

110

Measuring device

112

Target

114

Retroreflector

116

Localization unit

117

Illumination light beam

118

Evaluation unit

119

electric wire

120

Laser tracer

121

reflected light beam

122

Tool

124

geometric center of the tool

126

geometric center of the triangle formed by the three retroreflectors

128

Process step a)

130

Process step b)

132

Process step c)

134

Process step d)

136

first retroreflector

138

second retroreflector

140

third retroreflector

142

first localization unit

144

second localization unit

146

third localization unit

148

fourth localization unit

150

fifth localization unit

152

sixth localization unit

154

Control unit

156

seventh localization unit

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• US 2011/0007326 A1 [0016]
• US 2013/0050410 A1 [0016]
• US 2017/0258531 A1 [0016]
• US 9559486 B2 [0023]
• US 8913636 B2 [0023]
• US 2016123718 A1 [0023]

Claims (9)

Measuring device (110) for determining at least one spatial position and orientation of at least one measurement object (112), the measuring device (110) having at least three retroreflectors (114) and at least six localization units (116) or at least three localization units (116) and at least six retroreflectors (114), wherein each of the localization units (116) is set up to generate at least one illuminating light beam (117) and to illuminate at least one retroreflector (114) with the illuminating light beam (117), each of the retroreflectors (114) from at least one of the Localization units (116) is illuminated, wherein each of the localization units (116) is set up to receive at least one reflected light beam (121) from the retroreflector (114) it illuminates and to generate at least one measurement signal, the measurement device (110) also having one Has evaluation unit (118), the evaluations unit (118) is set up to determine the spatial position and orientation of the measurement object (112) from the measurement signals of the localization units (116). The measuring device (110) according to the preceding claim, wherein each of the localization units (116) comprises at least one element selected from the group consisting of: a laser tracer (120); a laser tracker; a LIDAR sensor, preferably an FMCW LIDAR sensor. Measuring device (110) according to the preceding claim, wherein the measuring device (110) has at least three retroreflectors (114) and at least six localization units (116), each of the localization units (116) comprising the at least one laser tracer (120) or the at least one laser tracker , or wherein the measuring device (110) has at least three localization units (116) and at least six retroreflectors (114), each of the localization units (116) comprising the at least one LIDAR sensor. Measuring device (110) according to one of the preceding claims, wherein the measuring device (110) has at least three retroreflectors (114) and at least seven localization units (116) or at least three localization units (116) and at least seven retroreflectors (114). Measuring device (110) according to one of the preceding claims, wherein the measuring device (110) further comprises a control unit, the control unit being set up to align the localization units (116) relative to the retroreflectors (114). Measuring device (110) according to one of the preceding claims, wherein the measuring device (110) is set up to determine speeds of the retroreflectors (114). Coordinate measuring device for measuring at least one workpiece, the coordinate measuring device comprising at least one measuring device (110) according to one of the preceding claims relating to a measuring device (110), wherein the coordinate measuring device has at least one measuring object (112) which is set up to scan the workpiece. Coordinate measuring device according to the preceding claim, wherein the measurement object (112) has the localization units (116) or the retroreflectors (114). Method for measuring at least one measurement object (112) with a measuring device (110) according to one of the preceding claims relating to a measuring device (110), the method comprising the following steps: a) providing the at least one measurement object (112), the measurement object (112) having the retroreflectors (114) or the localization units (116); b) generating the at least one illuminating light beam (117) with each of the localization units (116) and illuminating the retroreflectors (114) with the illuminating light beams (117), each of the locating units (116) illuminating at least one of the retroreflectors (114), each of the Retroreflectors (114) are illuminated by at least one localization unit (116); c) receiving at least one of the light beams (121) reflected by the retroreflectors (114) and generating at least one measurement signal with each of the localization units (116), each of the localization units (116) reflecting the reflected light beam (121) of the retroreflector (4) it illuminates 114) receives; and d) determining the spatial position and orientation of the measurement object (112) from the measurement signals of the localization units (116) with the at least one evaluation unit (118).

Images