WO2007015677A1 - Measurement method and measuring device for use in measurement systems - Google Patents

Measurement method and measuring device for use in measurement systems Download PDF

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Publication number
WO2007015677A1
WO2007015677A1 PCT/SE2006/050276 SE2006050276W WO2007015677A1 WO 2007015677 A1 WO2007015677 A1 WO 2007015677A1 SE 2006050276 W SE2006050276 W SE 2006050276W WO 2007015677 A1 WO2007015677 A1 WO 2007015677A1
Authority
WO
WIPO (PCT)
Prior art keywords
measurement
measuring device
accelerometers
calculation
orientation
Prior art date
Application number
PCT/SE2006/050276
Other languages
French (fr)
Inventor
Bo Pettersson
Original Assignee
Hexagon Metrology Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hexagon Metrology Ab filed Critical Hexagon Metrology Ab
Priority to EP06769655A priority Critical patent/EP1910772A4/en
Priority to JP2008524943A priority patent/JP2009503538A/en
Priority to US11/995,822 priority patent/US7895761B2/en
Publication of WO2007015677A1 publication Critical patent/WO2007015677A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems

Definitions

  • the present invention concerns a measurement method and a measuring device for use in measurement systems such as co- ordinate measurement machines and similar, where a position sensor is arranged to register its position in order to determine the form and dimensions of an object.
  • a probe, contact or non-contact, of some form is normally used in measurement systems, and a support is arranged that supports and displaces the probe.
  • the aim of the support is to displace the probe to a correct location such that it is able to register relevant data, i.e. the data that are required in order to be able to carry out the measurement task.
  • relevant data i.e. the data that are required in order to be able to carry out the measurement task.
  • supports are co-ordinate measurement machines, supports known as "articulated arms", laser trackers, photogrammetry systems, etc.
  • One disadvantage of the laser trackers and photogrammetry systems is that they require a clear line of sight from the object that is to be measured to the probe, and this may create problems, particularly if the measurement location is inside an object, for example, inside a car. It is therefore one aim of the present invention to achieve a new measurement method and a new measuring device with which the problems of known measurement systems described above can be eliminated.
  • the above aim of the invention for the achievement of a new measurement method is achieved according to the invention with a measurement method in which the position sensor is supported by a support, the position and orientation of which are determined by calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and based on a known starting position.
  • the above aim of the invention for the achievement of a new measuring device is achieved according to the invention with a measurement arrangement in which the position sensor is supported by a support the position and orientation of which are arranged to be determined by calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and that is based on a known starting position.
  • accelerometers By using at least one of accelerometers, GPS receivers and gyroscopes connected to the support and by calculating the displacement and any rotation based on the known starting position, it is possible to calculate each position for the position sensor or probe that is supported by the support. It is appropriate to use three accelerometers and three gyroscopes, by which configuration it is possible to calculate the position of the support with six degrees of freedom, position and orientation.
  • GPS receiver in combination with accelerometers or gyroscopes, or to use three GPS receivers, which gives both position and orientation.
  • the measuring device according to the invention can be used in, for example, a measurement system in which an independent unit can be operated in a wireless manner.
  • the measuring device can be mounted in a robot, and it is then fully- independent of the operation and control of the robot, such that the precision of the measuring device is fully independent of the positional accuracy of the robot.
  • a measurement system that exploits the measuring device according to the invention is, essentially, a relative measurement system, but through the arrangement of one or several known reference points, the measurement system can operate and display its measurement result in absolute coordinates .
  • the calculation of the current position of the probe normally takes place through the method of double integration based on data from the accelerometers or gyroscopes.
  • the probe that is used in the measuring device according to the invention may be of any suitable type, such as, for example, a conventional contact probe or a contact-free probe, such as, for example, a laser scanner.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Automation & Control Theory (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)

Abstract

A measurement method and a measuring device for use in measurement systems such as co-ordinate measurement machines and similar, where a position sensor is arranged to register its position in order to determine the form and dimensions of an object. The position sensor is supported by a support, the position and orientation of which are determined through calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and based on a known starting position.

Description

Measurement method and measuring device for use in measurement systems
The present invention concerns a measurement method and a measuring device for use in measurement systems such as co- ordinate measurement machines and similar, where a position sensor is arranged to register its position in order to determine the form and dimensions of an object.
A probe, contact or non-contact, of some form is normally used in measurement systems, and a support is arranged that supports and displaces the probe. The aim of the support is to displace the probe to a correct location such that it is able to register relevant data, i.e. the data that are required in order to be able to carry out the measurement task. Examples of such supports are co-ordinate measurement machines, supports known as "articulated arms", laser trackers, photogrammetry systems, etc.
One disadvantage of co-ordinate measurement machines and the supports known as articulated arms is that a number of mechanical elements and couplings are included in the system that supports the probe, and it is most often necessary to displace not only the probe, but also the mechanical elements and couplings in order to be able to capture the measurement data required.
One disadvantage of the laser trackers and photogrammetry systems is that they require a clear line of sight from the object that is to be measured to the probe, and this may create problems, particularly if the measurement location is inside an object, for example, inside a car. It is therefore one aim of the present invention to achieve a new measurement method and a new measuring device with which the problems of known measurement systems described above can be eliminated.
The above aim of the invention for the achievement of a new measurement method is achieved according to the invention with a measurement method in which the position sensor is supported by a support, the position and orientation of which are determined by calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and based on a known starting position.
The above aim of the invention for the achievement of a new measuring device is achieved according to the invention with a measurement arrangement in which the position sensor is supported by a support the position and orientation of which are arranged to be determined by calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and that is based on a known starting position.
By using at least one of accelerometers, GPS receivers and gyroscopes connected to the support and by calculating the displacement and any rotation based on the known starting position, it is possible to calculate each position for the position sensor or probe that is supported by the support. It is appropriate to use three accelerometers and three gyroscopes, by which configuration it is possible to calculate the position of the support with six degrees of freedom, position and orientation.
It is possible also to use solely accelerometers, and by suitable placement of these it is, despite everything, possible to register also the orientation with the aid of the accelerometers, and it will in this manner be possible to determine the exact position.
It is possible also to use a GPS receiver in combination with accelerometers or gyroscopes, or to use three GPS receivers, which gives both position and orientation.
The measuring device according to the invention can be used in, for example, a measurement system in which an independent unit can be operated in a wireless manner. The measuring device can be mounted in a robot, and it is then fully- independent of the operation and control of the robot, such that the precision of the measuring device is fully independent of the positional accuracy of the robot.
A measurement system that exploits the measuring device according to the invention is, essentially, a relative measurement system, but through the arrangement of one or several known reference points, the measurement system can operate and display its measurement result in absolute coordinates .
The calculation of the current position of the probe normally takes place through the method of double integration based on data from the accelerometers or gyroscopes.
The probe that is used in the measuring device according to the invention may be of any suitable type, such as, for example, a conventional contact probe or a contact-free probe, such as, for example, a laser scanner.

Claims

Claims
1. A measurement method for use in measurement systems such as co-ordinate measurement machines and similar, where a position sensor is arranged to register its position in order to determine the form and dimensions of an object, c h a r a c t e r i s e d in that the position sensor is supported by a support, the position and orientation of which are determined through calculation with the aid of data from at least one of accelerometers, GPS receivers and gyroscopes, and based on a known starting position.
2. The measurement method according to claim 1, c h a r a c t e r i s e d in that the position and orientation of the support are determined through calculation of the displacement and any rotation of the support with six degrees of freedom.
3. The measurement method according to claim 1 or 2, c h a r a c t e r i s e d in that the calculation takes place in the form of double integration.
4. The measurement method according to any one of the previous claims, c h a r a c t e r i s e d in that the calculation is based on data from three accelerometers and three gyroscopes.
5. The measurement method according to any one of claims 1-3, c h a r a c t e r i s e d in that the calculation is based solely on data from accelerometers.
6. The measurement method according to any one of claims 1-3, c h a r a c t e r i s e d in that a GPS receiver is used to determine the position and in that accelerometers or gyroscopes are used to determine the
5 orientation.
7. The measurement method according to any one of claims 1-3, c h a r a c t e r i s e d in that three GPS receivers are used in the calculation of position and
W orientation.
8. A measuring device for use in measurement systems such as co-ordinate measurement machines and similar, where a position sensor is arranged to register its position in order
15 to determine the form and dimensions of an object, c h a r a c t e r i s e d in that the position sensor is supported by a support, the position and orientation of which are arranged to be determined through calculation with the aid of data from at least one of 0 accelerometers, GPS receivers and gyroscopes, and based on a known starting position.
9. The measuring device according to claim 8, c h a r a c t e r i s e d in that the measuring 5 device comprises three accelerometers and three gyroscopes.
10. The measuring device according to claim 8, c h a r a c t e r i s e d in that the measuring device comprises solely accelerometers in order to provide
30 data for the calculation of the position of the position sensor.
11. The measuring device according to any one of claims 8-10, c h a r a c t e r i s e d in that the position sensor is a probe.
12. The measuring device according to claim 8, c h a r a c t e r i s e d in that a GPS receiver is arranged for the determination of the position and in that accelerometers and gyroscopes are arranged to determine the orientation.
13. The measuring device according to claim 8, c h a r a c t e r i s e d in that three GPS receivers are arranged for the calculation of position and orientation.
PCT/SE2006/050276 2005-08-04 2006-08-03 Measurement method and measuring device for use in measurement systems WO2007015677A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP06769655A EP1910772A4 (en) 2005-08-04 2006-08-03 Measurement method and measuring device for use in measurement systems
JP2008524943A JP2009503538A (en) 2005-08-04 2006-08-03 Measuring method and measuring apparatus used in measuring system
US11/995,822 US7895761B2 (en) 2005-08-04 2006-08-03 Measurement method and measuring device for use in measurement systems

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0501777A SE529780C2 (en) 2005-08-04 2005-08-04 Measuring method and measuring device for use in measuring systems such as coordinate measuring machines
SE0501777-7 2005-08-04

Publications (1)

Publication Number Publication Date
WO2007015677A1 true WO2007015677A1 (en) 2007-02-08

Family

ID=37708919

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2006/050276 WO2007015677A1 (en) 2005-08-04 2006-08-03 Measurement method and measuring device for use in measurement systems

Country Status (6)

Country Link
US (1) US7895761B2 (en)
EP (1) EP1910772A4 (en)
JP (1) JP2009503538A (en)
CN (1) CN101233384A (en)
SE (1) SE529780C2 (en)
WO (1) WO2007015677A1 (en)

Cited By (5)

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WO2009102266A1 (en) * 2008-02-14 2009-08-20 Hexagon Metrology Ab Measurement arrangement with a measurement head in order to carry out inspection measurement
WO2011042449A3 (en) * 2009-10-06 2011-06-30 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring device having positional change sensors
KR20110095416A (en) * 2008-12-15 2011-08-24 얼라이먼트 시스템스 에이비 Device and method for measuring a construction
DE102010053418A1 (en) 2010-11-29 2012-05-31 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring apparatus for measuring distance of reference object in workshop, has sensor head and reference object comprising coupling units respectively for uniquely and mechanically coupling sensor head with reference object
DE102011119012A1 (en) 2011-11-16 2013-05-16 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring system for e.g. desk for determining coordinates of surface points of workpiece, has data processing device determining coordinates of position change data, and transmitter for transmitting data to processing device

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DE102009015920B4 (en) 2009-03-25 2014-11-20 Faro Technologies, Inc. Device for optically scanning and measuring an environment
US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
US9113023B2 (en) 2009-11-20 2015-08-18 Faro Technologies, Inc. Three-dimensional scanner with spectroscopic energy detector
DE102009057101A1 (en) 2009-11-20 2011-05-26 Faro Technologies, Inc., Lake Mary Device for optically scanning and measuring an environment
US9210288B2 (en) 2009-11-20 2015-12-08 Faro Technologies, Inc. Three-dimensional scanner with dichroic beam splitters to capture a variety of signals
US9529083B2 (en) 2009-11-20 2016-12-27 Faro Technologies, Inc. Three-dimensional scanner with enhanced spectroscopic energy detector
US8630314B2 (en) 2010-01-11 2014-01-14 Faro Technologies, Inc. Method and apparatus for synchronizing measurements taken by multiple metrology devices
US8284407B2 (en) 2010-01-20 2012-10-09 Faro Technologies, Inc. Coordinate measuring machine having an illuminated probe end and method of operation
US8615893B2 (en) 2010-01-20 2013-12-31 Faro Technologies, Inc. Portable articulated arm coordinate measuring machine having integrated software controls
US8875409B2 (en) 2010-01-20 2014-11-04 Faro Technologies, Inc. Coordinate measurement machines with removable accessories
CN102687433A (en) * 2010-01-20 2012-09-19 法罗技术股份有限公司 Portable articulated arm coordinate measuring machine and integrated electronic data processing system
US9163922B2 (en) 2010-01-20 2015-10-20 Faro Technologies, Inc. Coordinate measurement machine with distance meter and camera to determine dimensions within camera images
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US8898919B2 (en) 2010-01-20 2014-12-02 Faro Technologies, Inc. Coordinate measurement machine with distance meter used to establish frame of reference
US8832954B2 (en) 2010-01-20 2014-09-16 Faro Technologies, Inc. Coordinate measurement machines with removable accessories
WO2011090892A2 (en) 2010-01-20 2011-07-28 Faro Technologies, Inc. Coordinate measurement machines with removable accessories
US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US8677643B2 (en) 2010-01-20 2014-03-25 Faro Technologies, Inc. Coordinate measurement machines with removable accessories
US9879976B2 (en) 2010-01-20 2018-01-30 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
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GB2501390B (en) 2010-09-08 2014-08-06 Faro Tech Inc A laser scanner or laser tracker having a projector
US9168654B2 (en) 2010-11-16 2015-10-27 Faro Technologies, Inc. Coordinate measuring machines with dual layer arm
US9222771B2 (en) 2011-10-17 2015-12-29 Kla-Tencor Corp. Acquisition of information for a construction site
CN102494651B (en) * 2011-12-20 2014-03-05 南京林业大学 Displacement meter for measuring arbitrary angle
DE102012100609A1 (en) 2012-01-25 2013-07-25 Faro Technologies, Inc. Device for optically scanning and measuring an environment
US8997362B2 (en) 2012-07-17 2015-04-07 Faro Technologies, Inc. Portable articulated arm coordinate measuring machine with optical communications bus
CN103630100B (en) * 2012-08-27 2018-08-21 富泰华工业（深圳）有限公司 Object-size measurement and Compare System and method
US9008757B2 (en) 2012-09-26 2015-04-14 Stryker Corporation Navigation system including optical and non-optical sensors
US10067231B2 (en) 2012-10-05 2018-09-04 Faro Technologies, Inc. Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner
US9513107B2 (en) 2012-10-05 2016-12-06 Faro Technologies, Inc. Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009102266A1 (en) * 2008-02-14 2009-08-20 Hexagon Metrology Ab Measurement arrangement with a measurement head in order to carry out inspection measurement
KR20110095416A (en) * 2008-12-15 2011-08-24 얼라이먼트 시스템스 에이비 Device and method for measuring a construction
KR101706370B1 (en) * 2008-12-15 2017-02-13 얼라이먼트 시스템스 에이비 System for measuring a construction
WO2011042449A3 (en) * 2009-10-06 2011-06-30 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring device having positional change sensors
US8627576B2 (en) 2009-10-06 2014-01-14 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring device having positional change sensors
EP2584308A3 (en) * 2009-10-06 2015-12-02 Carl Zeiss Industrielle Messtechnik GmbH Coordinate measuring device having positional change sensors
DE102010053418A1 (en) 2010-11-29 2012-05-31 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring apparatus for measuring distance of reference object in workshop, has sensor head and reference object comprising coupling units respectively for uniquely and mechanically coupling sensor head with reference object
DE102010053418B4 (en) * 2010-11-29 2012-12-06 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring device with non-contact position detection device and calibration method
DE102011119012A1 (en) 2011-11-16 2013-05-16 Carl Zeiss Industrielle Messtechnik Gmbh Coordinate measuring system for e.g. desk for determining coordinates of surface points of workpiece, has data processing device determining coordinates of position change data, and transmitter for transmitting data to processing device

Also Published As

Publication number Publication date
JP2009503538A (en) 2009-01-29
CN101233384A (en) 2008-07-30
US7895761B2 (en) 2011-03-01
SE529780C2 (en) 2007-11-20
SE0501777L (en) 2007-02-05
EP1910772A4 (en) 2013-02-27
US20080196260A1 (en) 2008-08-21
EP1910772A1 (en) 2008-04-16

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