Systems and methods for control and calibration of a CMM

• US 9,989,348 B2
• Filed: 05/05/2016
• Issued: 06/05/2018
• Est. Priority Date: 11/06/2009
• Status: Active Grant

• Current Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Original Assignee: Hexagon Technology Center GmbH (Hexagon AB)
• Inventors: Desforges, Laurent, Delemos, Jean-Paul
• Primary Examiner(s): Fulton, Christopher
• Application Number:
  US15/147,749
• Publication Number:
  US 20160363430A1
• Time in Patent Office: 761 Days
• Field of Search: 33503
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 19/00 Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators safety-devices in general F16P; protection against radiation in general G21F
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01B 7/008 using coordinate measuring machines
• CPC Class Codes: G05B 2219/39019 Calibration by cmm coordinate measuring machine over a certain volume
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

A method of operating an articulated arm CMM is provided. Instructions for the CMM can be inputted to the CMM arm by an action chosen from the group consisting of placing the arm in a predefined position and moving the arm in a predefined manner.

Claims

1. A method for guiding the movement of a manually-guided articulated arm coordinate measuring machine, the method comprising:

indicating a desired point for a distal end of a manually-guided articulated arm coordinate measuring machine and an associated desired arm position to a user; and

detecting that the distal end of the articulated arm coordinate measuring machine has been moved to the desired point and that the articulated arm has been moved to the desired arm position.

2. The method of claim 1, further comprising indicating a current position of the articulated arm coordinate measuring machine as compared to the desired arm position.

3. The method of claim 2, further comprising indicating one or more portions of the articulated arm coordinate measuring machine that are currently out of alignment with the desired arm position.

4. The method of claim 3, wherein the one or more portions of the articulated arm coordinate measuring machine comprises a joint.

5. The method of claim 3, wherein the one or more portions of the articulated arm coordinate measuring machine comprises a transfer member.

6. The method of claim 1, wherein the desired point is a calibration point and the desired arm position is an arm calibration position.

7. The method of claim 6, wherein the calibration point is a point on a calibration artifact.

8. The method of claim 7, further comprising indicating the location of the calibration artifact.

9. The method of claim 1, further comprising measuring the coordinates of the desired point using the manually-guided articulated arm coordinate measuring machine.

10. The method of claim 1, wherein the step of indicating comprises displaying the desired point for the distal end and the desired arm position to a user.

11. The method of claim 1, further comprising automatically measuring a position of the distal end of the manually-guided articulated arm coordinate measuring machine when the distal end is detected to be at the desired point, the arm is detected to be in the desired arm position, and the arm is held still for an extended period of time.

12. A method for guiding the movement of a manually-guided coordinate measuring device, the method comprising:

indicating, on a display, a desired area to be measured on an object;

indicating, on the display, a desired position of the manually-guided coordinate measuring device when measuring the desired area on the object;

detecting that the coordinate measuring device is measuring the desired area of the object and that the coordinate measuring device is in the desired position.

13. The method of claim 12, further comprising indicating, on the display, a current position of the manually-guided coordinate measuring device as compared to the desired position.

14. The method of claim 13, further comprising indicating one or more portions of the manually-guided coordinate measuring device that are currently out of alignment with the desired position.

15. The method of claim 12, further comprising using measured coordinates from the object to calibrate the manually-guided coordinate measuring device.

16. The method of claim 15, wherein the object is a calibration artifact.

17. The method of claim 12, further comprising indicating the object on the display.

18. The method of claim 12, wherein the manually-guided coordinate measuring device is a manually-guided articulated arm coordinate measuring machine.

19. The method of claim 12, further comprising automatically measuring a position on the object when the coordinate measuring machine is detected to be measuring the desired area, the device is detected to be in the desired position, and the device is held still for an extended period of time.

20. The method of claim 12, wherein the manually-guided coordinate measuring device and the display are included in a single physical unit.