CN102725702A - 用于使用测斜仪评估铰接臂坐标测量机的安装稳定性的方法 - Google Patents
用于使用测斜仪评估铰接臂坐标测量机的安装稳定性的方法 Download PDFInfo
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Abstract
一种便携式铰接臂坐标测量机可以包括:基部;具有相对的第一端和第二端的可人工定位的铰接臂部分,该臂部分包括多个连接的臂段;电子电路,该电子电路从变换器接收位置信号;耦接至基部的第一测斜仪,其中,该测斜仪被配置成产生响应于基部的倾斜角度的第一电信号;以及电系统,该电系统被配置成记录第一测斜仪的第一读数以及第一测斜仪的第二读数,其中,第一读数响应于施加至基部的第一力和施加至安装结构的第三力中的至少一个,其中,第二读数响应于施加至基部的第二力和施加至安装结构的第四力中的至少一个。
Description
相关申请的交叉引用
本申请要求2010年1月20日提交的临时申请第61/296,555号的权益,其全部内容通过引用合并于此。
背景技术
本公开内容涉及一种坐标测量机,并且更具体地涉及一种具有被配置成测量便携式铰接臂坐标测量机的倾斜的测斜仪的便携式铰接臂坐标测量机。
已经发现便携式铰接臂坐标测量机(AACMM)广泛用于制造或生产零件,其中,在制造或生产(例如,机械加工)零件的各个阶段期间需要快速且准确地检验零件的尺寸。便携式AACMM代表相对于已知的静止或固定的、成本集约化的且相对难以使用的测量装置的巨大改进,特别是在对相对复杂的零件进行尺寸测量所花费的时间量方面。通常,便携式AACMM的用户沿着要测量的零件或物体的表面简单地引导探针。然后,测量数据被记录并提供给用户。在一些情况下,将数据以可视形式(例如,计算机屏幕上的三维(3-D)形式)提供给用户。在其他情况下,将数据以数字形式提供给该用户,例如,当测量孔的直径时,在计算机屏幕上显示文本“直径=1.0034”。
在共同转让的美国专利第5,402,582号(‘582)中公开了现有技术的便携式铰接臂CMM的示例,其全部内容通过引用合并于此。‘582专利公开了一种3-D测量系统,该3-D测量系统包括在一端具有支撑基部而在另一端具有测量探针的人工操作的铰接臂CMM。共同转让的美国专利第5,611,147号(‘147)(其全部内容通过引用合并于此)公开了一种相似的铰接臂CMM。在‘147专利中,铰接臂CMM包括多个特征,这些特征包括在探针端处的附加旋转轴线,由此提供具有二-二-二或者二-二-三轴线配置的臂(后一种情况为七轴线臂)。
在一些情况下,AACMM不能牢固地附接至安装结构。在这样的情况下,随着铰接臂的探针从一个位置移动至另一个位置,铰接臂的基部会移动,由此给出不准确的读数。在一些其他情况下,臂被安装到的安装结构会移动,也导致错误的读数。需要的是一种对AACMM的安装或者AACMM所附接到的安装结构的稳定性的缺乏进行检测的方法。
发明内容
示例性实施例包括一种便携式铰接臂坐标测量机,其包括:基部;具有相对的第一端和第二端的可人工定位的铰接臂部分,该臂部分包括多个连接的臂段,每个臂段包括用于产生位置信号的至少一个位置变换器,臂部分耦接至基部,其中,基部附接至安装结构;电子电路,该电子电路从变换器接收位置信号;耦接至基部的第一测斜仪,其中该测斜仪被配置成产生响应于基部的倾斜角度的第一电信号;以及电系统,该电系统被配置成记录第一测斜仪的第一读数以及第一测斜仪的第二读数,其中,第一读数响应于施加至基部的第一力和施加至安装结构的第三力中的至少一个,并且其中,第二读数响应于施加至基部的第二力和施加至安装结构的第四力中的至少一个,其中,该电系统还被配置成基于第一测斜仪的第一读数与第二读数之间的差来确定基部稳定性参数。
另一示例性实施例包括一种评估便携式铰接臂坐标测量机的安装稳定性的方法,该方法包括:提供基部;提供具有相对的第一端和第二端的可人工定位的铰接臂部分,该臂部分包括多个连接的臂段,每个臂段包括用于产生位置信号的至少一个位置变换器,臂部分耦接至基部,其中,基部附接至安装结构;提供电子电路,该电子电路从变换器接收位置信号;提供耦接至基部的第一测斜仪,其中,该第一测斜仪被配置成产生响应于基部的倾斜角度的第一电信号;提供电系统,该电系统被配置成记录第一测斜仪的第一读数以及第一测斜仪的第二读数;记录响应于施加至基部的第一力和施加至安装结构的第三力中的至少一个的第一读数;记录响应于施加至基部的第二力和施加至安装结构的第四力中的至少一个的第二读数;基于第一测斜仪的第一读数与第二读数之间的差来确定基部稳定性参数;以及记录基部稳定性参数。
又一示例性实施例包括一种用于实现便携式铰接臂坐标测量机的计算机程序产品,该计算机程序产品包括其上包含计算机可读程序代码的存储介质,该计算机可读程序代码在由计算机执行时使得计算机实现一种方法,该方法包括:提供基部;提供具有相对的第一端和第二端的可人工定位的铰接臂部分,该臂部分包括多个连接的臂段,每个臂段包括用于产生位置信号的至少一个位置变换器,该臂部分耦接至基部,其中,基部附接至安装结构;提供电子电路,该电子电路从变换器接收位置信号;提供耦接至基部的第一测斜仪,其中,该测斜仪被配置成产生响应于基部的倾斜角度的第一电信号;提供电系统,该电系统被配置成记录第一测斜仪的第一读数以及第一测斜仪的第二读数;记录响应于施加至基部的第一力和施加至安装结构的第三力中的至少一个的第一读数;记录响应于施加至基部的第二力和施加至安装结构的第四力中的至少一个的第二读数;基于第一测斜仪的第一读数与第二读数之间的差来确定基部稳定性参数;以及记录基部稳定性参数。
附图说明
现在参照附图,示出了示例性实施例,这些示例性实施例不应该被解释为对本公开内容的整个范围的限制,并且其中,在若干图中以相似的方式对元件进行标号:
包括图1A和图1B的图1是其中具有本发明的各个方面的实施例的便携式铰接臂坐标测量机(AACMM)的透视图;
包括合起来看的图2A-2D的图2是根据实施例的被用作图1的AACMM的一部分的电子装置的框图;
包括合起来看的图3A和图3B的图3是描述根据实施例的图2的电子数据处理系统的详细特征元件的框图;
图4示出了被布置在AACMM的基部中的测斜仪的内部视图;
图5示出了操作员可以检测AACMM的倾斜变化的示例性图形用户接口的屏幕截图;
图6是根据示例性实施例的用于检测倾斜的方法的流程图;
图7是根据示例性实施例的用于评估AACMM的稳定性的方法的流程图;以及
图8是根据示例性实施例的用于评估AACMM的稳定性的方法的流程图。
具体实施方式
示例性实施例包括如下系统和方法:该系统和方法用于测量来自便携式铰接臂坐标测量机的倾斜数据,并显示倾斜数据以向操作员警告便携式铰接臂坐标测量机正在经历倾斜变化。然后,操作员可以获知倾斜变化并采取校正措施。在示例性实施例中,此处所描述的系统和方法提供了诊断工具以通过在测量操作期间检测该便携式铰接臂坐标测量机的移动来确定便携式铰接臂坐标测量机是否恰当地安装至安装表面上。其他示例性实施例提供了在将AACMM的基部不恰当地安装在安装结构上与安装结构自身的移动之间进行区分的方法。
图1A和图1B以透视方式示出了根据本发明的各个实施例的便携式铰接臂坐标测量机(AACMM)100,铰接臂是一种类型的坐标测量机。如图1A和图1B所示,示例性AACMM100可以包括六轴线或七轴线铰接测量装置,该测量装置具有在一端处耦接至AACMM100的臂部分104的测量探针壳体102。臂部分104包括通过第一轴承盒(cartridge)组110(例如,两个轴承盒)而耦接至第二臂段108的第一臂段106。第二轴承盒组112(例如,两个轴承盒)将第二臂段108耦接至测量探针壳体102。第三轴承盒组114(例如,三个轴承盒)将第一臂段106耦接至位于AACMM100的臂部分104的另一端的基部116。每个轴承盒组110、112、114提供铰接移动的多个轴线。此外,测量探针壳体102可以包括AACMM100的第七轴线部分的轴(例如,包含在AACMM100的第七轴线上确定测量装置(例如,探针118)的移动的编码器系统的盒)。在使用AACMM100时,基部116通常被附接于工作表面。
每个轴承盒组110、112、114内的每个轴承盒通常包括编码器系统(例如,光栅角编码器系统)。编码器系统(即变换器)提供各个臂段106、108和对应的轴承盒组110、112、114的位置的指示,所有这些指示一起提供探针118关于基部116的位置(以及因而由AACMM100测量的物体在某个参照系(例如局部参照系或全局参照系)中的位置)的指示。臂段106和108可以由适当刚性的材料制成,诸如但不限于例如碳复合材料。具有六轴线或七轴线的铰接移动(即自由度)的便携式AACMM100提供了下述优点:在提供可以由操作员容易地处理的臂部分104的情况下,允许操作员将探针118定位在基部116周围的360°区域内的期望位置处。然而,应该认识到,具有两个臂段106、108的臂部分104的图示仅为了示例性目的,并且要求保护的本发明不应局限于此。AACMM100可以具有通过轴承盒耦接在一起的任意数目的臂段(以及因而多于或少于六轴线或七轴线的铰接移动或自由度)。
探针118被可拆卸地安装至测量探针壳体102,测量探针壳体102连接到轴承盒组112。通过例如快速连接接口,可关于测量探针壳体102移除把柄126。可以用其他装置(例如,激光线探针、条形码阅读器)来替换把柄126,由此提供允许操作员将不同的测量装置与同一AACMM100一起使用的优点。在示例性实施例中,探针壳体102容纳可移除的探针118,可移除的探针118是接触式测量装置并且可以具有与要测量的物体物理接触的不同尖端118,包括但不限于:球型探针、触敏型探针、弯曲型探针以及伸缩型探针。在其他实施例中,例如由诸如激光线探针(LLP)的非接触装置来执行测量。在实施例中,使用快速连接接口,用LLP替换把柄126。其他类型的测量装置可以替换可移除的把柄126以提供附加功能。这样的测量装置的示例包括但不限于例如一个或更多个照明灯、温度传感器、热扫描仪、条形码扫描仪、投影仪、喷漆器、摄像装置等。
如图1A和图1B所示,AACMM100包括可移除的把柄126,其提供了以下优点:允许改变附件或功能,而无需将测量探针壳体102从轴承盒组112移除。如以下关于图2更详细讨论的,可移除的把柄126还可以包括允许与把柄126交换电功率和数据的电连接器以及位于探针端处的相应电子装置。
在各种实施例中,每个轴承盒组110、112、114允许AACMM100的臂部分104关于多个旋转轴线移动。如所提及的,每个轴承盒组110、112、114包括相应的编码器系统(例如像光栅角编码器),这些编码器系统均与例如臂段106、108的相应旋转轴线同轴地布置。光学编码器系统检测例如臂段106、108中的每个臂段关于相应轴线的旋转(转体(swivel))或横向(铰链(hinge))移动,并且将信号传输至AACMM100内的电子数据处理系统(如在本文中以下更详细描述的)。每个单独的原始编码器计数作为信号被独立地发送至电子数据处理系统,其中,该计数进一步被处理成测量数据。不需要与AACMM100自身分立的位置计算器(例如,串行盒(serial box)),如在共同转让的美国专利第5,402,582号(‘582)所公开的。
基部116可以包括附接装置或安装装置120。安装装置120允许将AACMM100可移除地安装到期望位置,例如像检验台、机械加工中心、壁或地面。在一个实施例中,基部116包括把柄部分122,该把柄部分122提供操作员在AACMM100被移动时保持基部116的方便位置。在一个实施例中,基部116还包括向下折叠以显露用户接口(诸如显示屏)的可移动的盖部分124。
根据实施例,便携式AACMM100的基部116包含或容纳包括以下两个主要部件的电子数据处理系统:基部处理系统,对来自AACMM100内的各个编码器系统的数据以及用以支持三维(3-D)位置计算的表示其他臂参数的数据进行处理;以及用户接口处理系统,包括板上操作系统、触摸屏显示器以及驻留应用软件,该驻留应用软件允许在AACMM100内实现相对完整的计量功能,而无需连接到外部计算机。
基部116中的电子数据处理系统可以与编码器系统、传感器以及远离基部116的其他外围硬件(例如,可以安装至AACMM100上的可移除的把柄126的LLP)进行通信。支持这些外围硬件装置或特征的电子装置可以位于便携式AACMM100内的轴承盒组110、112、114中的每一组中。
图2是根据实施例的在AACMM100中使用的电子装置的框图。图2所示的实施例包括电子数据处理系统210,该电子数据处理系统210包括用于实现基部处理系统的基部处理器板204、用户接口板202、用于提供电力的基部电力板206、蓝牙模块232、以及基部倾斜板208。用户接口板202包括计算机处理器,该计算机处理器用于执行应用软件以实现此处描述的用户接口、显示和其他功能。
如图2所示,电子数据处理系统210经由一个或更多个臂总线218与前述的多个编码器系统通信。在图2所描绘的实施例中,每个编码器系统生成编码器数据,并且包括:编码器臂总线接口214、编码器数字信号处理器(DSP)216、编码器读取头接口234、以及温度传感器212。诸如应变传感器的其他装置可以附接到臂总线218。
图2中还示出了与臂总线218通信的探针端电子装置230。探针端电子装置230包括探针端DSP 228、温度传感器212、把柄/LLP接口总线240以及探针接口226,其中,在实施例中,该把柄/LLP接口总线240经由快速连接接口与把柄126或LLP 242连接。快速连接接口允许由把柄126访问由LLP 242和其他附件使用的数据总线、控制线以及电力总线。在实施例中,探针端电子装置230位于AACMM100上的测量探针壳体102中。在实施例中,可以从快速连接接口移除把柄126,并且可以通过经由把柄/LLP接口总线240而与AACMM100的探针端电子装置230进行通信的激光线探针(LLP)242来执行测量。在实施例中,电子数据处理系统210位于AACMM100的基部116中,探针端电子装置230位于AACMM100的测量探针壳体102中,以及编码器系统位于轴承盒组110、112、114中。探针接口226可以通过任何适合的通信协议与探针端DSP 228连接,通信协议包括可从Maxim Integrated Products有限公司商业购得的、实施通信协议236的产品。
图3是描述根据实施例的AACMM100的电子数据处理系统210的详细特征元件的框图。在实施例中,电子数据处理系统210位于AACMM100的基部116中,并且包括基部处理器板204、用户接口板202、基部电力板206、蓝牙模块232、以及基部倾斜模块208。
在图3所示的实施例中,基部处理器板204包括其中所示的各个功能块。例如,基部处理器功能302被用来支持从AACMM100收集测量数据,并且经由臂总线218和总线控制模块功能308来接收原始臂数据(例如,编码器系统数据)。存储器功能304存储程序和静态臂配置数据。基部处理器板204还包括用于与任何外部硬件装置或附件(诸如LLP 242)通信的外部硬件选项端口功能310。在图3所描绘的基部处理器板204的实施例中的功能中还包括实时时钟(RTC)与日志306、电池组接口(IF)316以及诊断端口318。
基部处理器板204还管理与外部(主机计算机)装置和内部(显示处理器202)装置的所有有线和无线数据通信。基部处理器板204具有下述能力:经由以太网功能320(例如,使用时钟同步标准(诸如,电气和电子工程师协会(IEEE)1588))与以太网通信,经由LAN功能322与无线局域网(WLAN)通信,以及经由并行-串行通信(PSC)功能314与蓝牙模块232通信。基部处理器板204还包括到通用串行总线(USB)装置312的连接。
基部处理器板204发送并收集原始测量数据(例如,编码器系统计数、温度读数)以处理成测量数据而无需任何预处理,如在前述‘582专利的串行盒中所公开的那样。基部处理器204经由RS485接口(IF)326将处理后的数据发送至用户接口板202上的显示处理器328。在实施例中,基部处理器204还将原始测量数据发送至外部计算机。
现在转向图3中的用户接口板202,在显示处理器328上执行的应用利用由基部处理器接收到的角度和位置数据来提供AACMM100内的自主计量系统。可以在显示处理器328上执行应用以支持下述功能,功能诸如但不限于:特征元件的测量、引导和训练图形、远程诊断、温度校正、各个操作特征元件的控制、到各个网络的连接、以及显示所测量的物体。连同显示处理器328和液晶显示器(LCD)338(例如,触摸屏LCD)用户接口,用户接口板202包括若干接口选项,这些接口选项包括安全数字(SD)卡接口330、存储器332、USB主机接口334、诊断端口336、摄像装置端口340、音频/视频接口342、拨号/单元调制解调器344、以及全球定位系统(GPS)端口346。
图3所示的电子数据处理系统210还包括具有用于记录环境数据的环境记录器362的基部电力板206。基部电力板206还使用交流/直流(AC/DC)转换器358和电池充电器控制器360来向电子数据处理系统210提供电力。基部电力板206使用集成电路间(I2C)串行单端总线354以及经由DMA串行外围接口(DSPI)356而与基部处理器板204进行通信。基部电力板206经由在基部电力板206中实现的输入/输出(I/O)扩展功能364而连接至倾斜传感器与射频识别(RFID)模块208。
尽管被示为分立部件,但在其他实施例中,全部部件或部件的子集可以物理上位于不同位置和/或可以是以与图3所示的方式不同的方式结合的功能。例如,在一个实施例中,基部处理器板204和用户接口板202被结合到一个物理板中。
图4示出了被布置在AACMM100的基部116中的测斜仪160的内部视图。测斜仪可以是用于耦接至与基部116耦接的电路板的标准电部件366。替选地,测斜仪可以位于AACMM100的其他零件内。测斜仪的两个可能的位置是在基部116的静止部分中以及紧接在基部116的静止部分的上方的转体区域中。在后一位置处,在用户使AACMM100关于转体轴线旋转时,通过观察测斜仪160的读数可以获得测斜仪偏移和增益的补偿。总体上,重要的是,沿着大致垂直于重力矢量的两个垂直方向来测量倾斜。这样的测量可以通过单个测斜仪在两个或更多个方向上测量倾斜来进行或者通过多个单轴线测斜仪来进行。
将一个或更多个测斜仪(即倾斜传感器)160结合到基部116中以检测在臂部分104的操作期间基部116相对于安装结构(此处示出为安装结构401)的倾斜变化使得用户能够确定AACMM100是否恰当地安装在安装表面上。安装表面401还可以包括测斜仪405。在示例性实施例中,此处所描述的方法可以测量并比较来自测斜仪160、测斜仪405的倾斜数据,以确定安装结构401的倾斜变化、或者基部116的倾斜变化、或者安装结构401和基部116二者的倾斜变化。
安装结构可以采取各种形式。一种用于AACMM100的通用安装结构是仪器架或重载三脚架。另一种通用安装结构是平滑表面,如表面板(例如平滑花岗石板)。
基部116的微小的倾斜角度变化可以导致探针尖端118的三维位置的计算中的相对显著的误差。如果基部116没有牢固地紧固至安装结构,则会导致这种倾斜变化。在这种情况下,倾斜会由于AACMM100内部的平衡弹簧(未示出)施加至基部116的转矩的变化而变化。由于通过在AACMM操作期间改变力矩臂距离而扩展臂段106、108的重量,倾斜也会由于施加至AACMM基部116的转矩变化而变化。
通过经由一个或更多个精确测斜仪160在AACMM操作期间监视基部116的实际倾斜,可以向操作员警告AACMM100的安装的问题。通过从一个或更多个测斜仪160向由板上计算机或主机计算机运行的软件提供的数据,可以警告操作员AACMM100的故障安装。替选地,数据可以用于使报警灯亮起、激活报警声音、或者以某种其他的方式向用户通知问题。一个或更多个测斜仪160可以被结合至下述自诊断的软件例程中:该自诊断的软件例程作为设置(set-up)评估应用的一部分被直接访问或者作为报警系统的一部分被自动访问。
在示例性实施例中,此处所描述的系统和方法动态地测量倾斜变化以确定AACMM100的一个或更多个部分是否正在经历倾斜变化。这使得能够发现AACMM100到其安装结构的附接的不稳定性。对于诊断应用,对收集的倾斜数据进行检查以测量倾斜变化而不是倾斜的真实值。在这种情况下,AACMM100的基部116是否具有某个特定平均倾斜角度(如5度)并不重要。而是,倾斜角度的变化足以指示出AACMM100的测量可受误差的影响。以这种方式,可以警告AACMM100的操作员采取校正措施。
图5示出了操作员可检测AACMM100的倾斜变化而借助的示例性图形用户接口(GUI)505的屏幕截图500。在示例性实施例中,GUI505可以被布置在AACMM100上或者外部计算装置上。GUI505可以显示从基部处理系统测量的倾斜数据。如所示出的,可以在GUI505上显示x-y倾斜角度的绘图510。在不存在AACMM100的倾斜变化的稳定状态下,显示稳定的绘图,如图5所示。如果AACMM100正在经历倾斜变化,则操作员将能够观察到绘图510的变化并由此知道在AACMM100中正发生倾斜的某种变化。在示例性绘图510的中心附近的是圆。在示例性实施例中,在圆内的点被认为是可接受的倾斜变化,而在圆外的点被认为是过度的倾斜变化并且是足够显著的以使测量准确度降低超出了预设限制。在示例性实施例中,圆的直径可以是表示可接受的倾斜的范围的任何预定值。可以根据臂长度、类型或配置来定义直径的标度。例如,臂越长,弹簧越具有刚性,并且施加在安装件上的应力越大,这是由于臂是铰接的。由此,例如臂长度的因素影响了倾斜角度的变化,并且可以结合到倾斜率的变化的可接受限制中。例如,可以根据臂长度来定义误差圆。此外,在示例性实施例中,尽管如在此所描述的测斜仪160可以指示基部相对于重力矢量的绝对取向,但是测斜仪160被实现为检测倾斜变化。如此,在安装了AACMM100之后,可以在GUI505上将绘图510“调零”。以这种方式,无论初始倾斜如何(例如上文描述的五度),都可以在安装后的初始倾斜处将绘图510调零。
图6是根据示例性实施例的用于检测倾斜的方法600的流程图,该图示出:只要操作员连续地在块630处选择测量和显示,AACMM100就可以连续地在块610处测量倾斜且在块620处显示测量。
在上文所讨论的示例性实施例中,安装在AACMM100上的测斜仪160可以响应于AACMM100安装到的结构的倾斜以及AACMM100相对于安装结构的倾斜。在其他示例性实施例中,测斜仪被布置在安装结构上以及布置在AACMM100中。针对布置在安装结构上的测斜仪以及在AACMM100中的这些测斜仪160,可以大致对准倾斜方向(例如x和y)。通过使用这种测斜仪的组合,向用户提供用以识别问题源(不恰当安装的AACMM100或者摆动的安装结构)的信息。安装在AACMM100内的测斜仪160以及安装在外部结构上的测斜仪都可以与基部处理系统或者外部计算系统通信。通过在两个传感器读数被调零之后显示两个传感器读数之间的差来断定由于AACMM100的安装而导致的倾斜变化。例如,AACMM100可以安装在表面板上,而证据传感器可以安装在表面板上并且插入至AACMM100上的I/O端口中。然后将两个传感器都调零,GUI505指示两个传感器之间的倾斜的差。如果该差仍是小的,则这指示AACMM100牢固地附接至安装结构。例如,如果操作员在进行测量时绕着表面板行走,则地板将偏斜并且两个测斜仪将会将偏差检测为通用模式漂移,由此显示器上没有偏差。如果操作员撞击臂或者安装松动,则警报会指示问题。
除了指示AACMM100牢固地安装至表面板之外,从测斜仪获得的信息还可以指示AACMM100安装到的整体结构是不稳定的。这在一些情况下是重要的。例如,如果受测物体被放置在表面板上,则在操作员绕着表面板行走时地板弯曲的情况下,所进行的测量不引起误差。另一方面。如果臂正在延伸以测量未附接至表面板的物体,则表面板结构相对于受测物体的弯曲可以导致测量误差。通过显示一组测斜仪(一个或更多个测斜仪160或者在安装板上的测斜仪)的倾斜角度的变化以及两组测斜仪之间的倾斜的差,这种类型的问题(不恰当安装的臂或者摇摆的结构)可以被识别。在这些实施例中,如在上文所讨论的这些实施例,无需具有对外部坐标系的任何认识。
如上文所讨论的,存在可能发生的两种类型的安装问题:(1)AACMM100的基部116可能未牢固地附接至安装结构,或者(2)因为安装结构所安置的平台变形或者因为安装结构未牢固地附接至平台,所以安装结构会移动。通过使用放置在AACMM100中的单个测斜仪,可以确定在AACMM100安装在安装结构时存在AACMM100的稳定性的问题。一般而言,不可以仅利用这一个测斜仪确定稳定性的问题是由以上列出的原因(1)或(2)、或(1)和(2)的组合导致的。通过增加第二测斜仪,可以识别该问题的可能原因。例如,如果附接至AACMM100的测斜仪示出大的倾斜角度的变化而安装架未示出大的变化,则可能稳定性的问题是基部116到安装结构401的不牢固安装而导致的。软件可以向AACMM100的操作员通知该问题,使得操作员能够通过将AACMM100更牢固地紧固至安装结构来采取校正措施。另一方面,如果附接至AACMM100的测斜仪以及放置在安装结构上的测斜仪示出了几乎相同的倾斜角度变化,则问题最有可能是不稳定的安装或平台的结果。例如,AACMM100可以放置在具有仪器架或三脚架的形式的安装结构上。该安装结构可以放置在具体平台上。如果平台相对薄(就是说8英寸厚或更薄),则在操作员绕着安装结构移动时,平台会在操作员的重量下弯曲。如上文所说明的,如果正被测量的物体没有位于与AACMM100相同的表面上,则该情况会引起测量误差。随着对该问题的认识,操作员可以采取校正措施,如将测试台重定位至更加刚性的平台或者将受测物体移动到安装结构上。
为了对指示这些安装问题的倾斜角度的变化进行观察,将力施加至基部116并且施加至安装结构。通常不可以将力完全施加至基部116或施加至安装结构,但是可以将力施加至基部116和安装结构二者。例如,将力或转矩施加至基部116并且在某种程度上施加至安装结构的一种方便且有效的方式是移动臂段106、108。如之前所说明的,这从AACMM100内的平衡弹簧产生基部116上的转矩的变化。因为AACMM100附接至安装结构,所以移动臂段106、108还至少在某种程度上将转矩传递至安装结构。
将力施加至基部116并且直接施加至安装结构的一种可替选方式是将受控力施加至基部结构自身。如果施加了受控量的力,则解释通过这种方法产生的倾斜的意义是最简单的。例如,可以由测力计来施加这种力。还可以用测力计或者通过绕着安装结构走动来将这种力施加至安装结构。
概括地说,在图7的过程700中示出了在确定AACMM100是否具有稳定的安装中的接下来的过程。步骤710是向AACMM100的基部116施加第一力。如上所述,可以以若干方式施加该力,但是一种特别便利的方式是将臂段106、108移动至第一位置。由于以上说明的原因,力的量将根据臂段的位置而变化。在步骤720处,记录第一测斜仪(附接至AACMM100的测斜仪)的第一读数。在步骤730处,施加第二力。该第二力可以在大小、或方向、或大小和方向二者方面与第一力不同。在步骤740处,记录第一测斜仪的第二读数。使用第一读数和第二读数来计算基部稳定性参数。该参数可以是一个或更多个数值或者状态描述(如稳定或不稳定)。
图7示出了断定基部稳定性的基本要素。可以以若干方式扩展和增强测量。首先,除所需要的两点之外,可以采取另外的力和测斜仪读数。其次,软件可以引导操作员以特定方式移动臂,其中,可以监视臂以向操作员提供关于臂段106、108要移动至的下一位置的实时反馈。可以在AACMM100首先安装在测量结构上之后快速地执行这种过程(也许在一分钟内)。再次,软件可以显示测试结果,包括通过/失败指示。除了使用这样的方法作为用以确认安装良好的初始检查之外,还可以周期性地重复该方法,或者可以在操作员使用臂进行例行测量的背景下进行该方法。
在收集测斜仪数据时,收集编码器读数也是有用的,因为这些编码器读数可以用于估计施加至基部116的力或转矩。可以使用各种标准以基于所施加的力或转矩来确定测斜仪读数是否是可接受的。最简单的标准是简单输入或输出标准,如关于图5所描述的。更复杂的标准可以包括诸如线性或滞后的效果。
图8的过程800示出了评估安装结构稳定性的基本要素。在步骤810中,向安装结构施加力(第三力)。如以上所说明的,该力可以由臂段106、108的移动而引起,或者该力可以由绕着安装结构行走或者将受控力施加至安装结构或基部116而引起。在步骤820中,记录第二测斜仪(附接至安装结构的测斜仪)的读数(第三读数)。在步骤830中,向安装结构施加第四力。在步骤840中,记录第二测斜仪的第四读数。根据所收集的数据,计算安装结构稳定性参数。如过程700的情况那样,可以通过收集多个点以及通过使用软件来引导操作员施加力来扩展和增强过程800。
在AACMM100的例行操作期间,不断地收集数据,其可以被评估以确认AACMM100的安装稳定性。确保质量测量数据是由AACMM100产生的方式是:如果基部稳定性参数或者安装结构稳定性参数指示安装稳定性不好,则发布警报。这样的警报可以是可视的,例如显示器上的消息或者闪光,或者这样的警报可以是声音的,例如嘟嘟声或者口头消息。这样的警报还可以是发送至电装置以指示需要进一步动作的电信号。
可以使用除了图5所示的可视显示器之外的其他类型的显示器。例如,可以使用从0至100%的简单条来指示如由基部稳定性参数和安装结构稳定性参数所指示的、基部和安装结构的稳定性。这种条还可以用于这两个参数之间的差的测量。其他图表可以示出稳定性随时间的变化。
如本领域技术人员将理解的,本发明的方面可以被实施为系统、方法或计算机程序产品。因此,本发明的方面可以采取完全硬件实施例的形式、完全软件实施例(包括固件、驻留软件、微代码等)的形式或者结合软件方面和硬件方面(在此全部通常可以称为“电路”、“模块”或“系统”)的实施例的形式。此外,本发明的方面还可以采取以其上包括计算机可读程序代码的一个或多个计算机可读介质实现的计算机程序产品的形式。
可以采用一个或更多个计算机可读介质的任何组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质可以是例如但不限于电子、磁、光学、电磁、红外线或半导体系统、设备或装置、或者前述的任何适当组合。计算机可读介质的更具体的示例(非穷尽的列表)可以包括以下各项:具有一条或更多条线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、光纤、便携式致密盘只读存储器(CD-ROM)、光存储装置、磁存储装置、或前述的任何适当组合。在本文档的上下文中,计算机可读存储介质可以是任何有形介质,该有形介质可以包含或存储由指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合使用的程序。
计算机可读信号介质可以包括其中包含计算机可读程序代码的传播数据信号,例如,在基带中或者作为载波的一部分。这样的传播信号可以采用各种形式中的任一种,包括但不限于电磁、光学、或以上形式的任何适当的组合。计算机可读信号介质可以是任何计算机可读介质,其不是计算机可读存储介质并且可以传送、传播或传输由指令执行系统、设备或装置使用的或者与指令执行系统、设备或装置结合使用的程序。
可以使用任何适当的介质来传输在计算机可读介质上实现的程序代码,这些适当的介质包括但不限于无线、有线、光纤线缆、RF等、或前述的任何适当组合。
用于进行本发明的方面的操作的计算机程序代码可以以一种或更多种编程语言的任何组合来编写,这些编程语言包括面向对象的编程语言(诸如,Java、Smalltalk、C++、C#等)以及传统的过程化编程语言(诸如,“C”编程语言或者类似的编程语言)。程序代码可以完全在用户的计算机上执行、部分在用户的计算机上执行、作为独立的软件包执行、部分在用户的计算机上且部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在后一情况下,远程计算机可以通过任何类型的网络(包括局域网(LAN)或广域网(WAN))连接到用户的计算机,或者可以进行到外部计算机的连接(例如,利用因特网服务提供方、通过因特网)。
参照根据本发明的实施例的方法、设备(系统)和计算机程序产品的流程图和/或框图描述本发明的各方面。将理解,流程图和/或框图中的每个块、以及流程图和/或框图中的块的组合可以通过计算机程序指令来实现。
可以将这些计算机程序指令提供给通用计算机、专用计算机或其他可编程数据处理设备的处理器以制造机器,以使得经由计算机或其他可编程数据处理设备的处理器执行的指令创建用于实现流程图和/或框图的块中所指定的功能/动作的装置。这些计算机程序指令还可以存储在计算机可读介质中,其中该计算机可读介质可以引导计算机、其他可编程数据处理设备或其他装置以特定方式起作用,以使得存储在计算机可读介质中的指令产生包括实现流程图和/或框图的块中所指定的功能/动作的指令的制品。
计算机程序指令还可以加载到计算机、其他可编程数据处理设备或其他装置上,以使得在计算机、其他可编程设备或其他装置上执行一系列操作步骤从而产生计算机实现的处理,以使得在计算机或其他可编程设备上执行的指令提供用于实现流程图和/或框图的块中所指定的功能/动作的处理。
附图中的流程图和框图示出了根据本发明的各个实施例的系统、方法和计算机程序产品的可能实现方式的体系结构、功能和操作。在这点上,流程图或框图中的每个块可以表示代码的模块、段或部分,其中代码包括用于实现所指定的逻辑功能的一个或更多个可执行指令。还应该注意,在一些替选实现方式中,块中提到的功能可以不按照图中提到的顺序发生。例如,实际上可以基本同时执行连续示出的两个块,或者根据所涉及的功能,有时可以按倒序执行块。还将注意,框图和/或流程图中的每个块、以及框图和/或流程图中的块的组合可以通过执行指定功能或动作的基于专用硬件的系统或者专用硬件与计算机指令的组合来实现。
尽管已经参照示例实施例描述了本发明,但是本领域技术人员将理解,在不背离本发明的范围的情况下,可以进行各种改变并且等同物可以替代本发明的要素。此外,在不背离本发明的基本范围的情况下,可以进行许多修改以使具体情形或材料适于本发明的教导。因此,意图是本发明不限于作为用于实施本发明想到的最佳模式而公开的具体实施例,而是本发明将包括落入所附权利要求的范围内的全部实施例。此外,术语第一、第二等的使用不表示任何顺序或重要性,而是术语第一、第二等用于将一个要素与另一个要素相区分。此外,术语一个、一种等的使用不表示对数量的限制,而是表示存在至少一个所提及的项目。
Claims (32)
1.一种便携式铰接臂坐标测量机(AACMM),包括:
基部;
具有相对的第一端和第二端的可人工定位的铰接臂部分,所述臂部分包括多个连接的臂段,每个所述臂段包括用于产生位置信号的至少一个位置变换器,所述臂部分耦接至所述基部,其中,所述基部附接至安装结构;
电子电路,所述电子电路从所述变换器接收所述位置信号;
耦接至所述基部的第一测斜仪,其中,所述测斜仪被配置成产生响应于所述基部的倾斜角度的第一电信号;以及
电系统,所述电系统被配置成记录所述第一测斜仪的第一读数以及所述第一测斜仪的第二读数,其中,所述第一读数响应于施加至所述基部的第一力和施加至所述安装结构的第三力中的至少一个,并且其中,所述第二读数响应于施加至所述基部的第二力和施加至所述安装结构的第四力中的至少一个,
其中,所述电系统还被配置成基于所述第一测斜仪的所述第一读数与所述第二读数之间的差来确定基部稳定性参数。
2.根据权利要求1所述的AACMM,其中,所述第一力通过所述多个连接的臂段的第一空间布置而生成,并且所述第二力通过所述多个连接的臂段的第二空间布置而生成。
3.根据权利要求2所述的AACMM,其中,所述基部稳定性参数还基于所述第一空间布置中的第一变换器读数以及所述第二空间布置中的第二变换器读数。
4.根据权利要求3所述的AACMM,其中,所述电系统还被配置成显示所述基部稳定性参数。
5.根据权利要求4所述的AACMM,还包括第一处理器,所述第一处理器被配置成引导所述多个连接的臂段移动成为所述第一空间布置和所述第二空间布置。
6.根据权利要求3所述的AACMM,还包括第二处理器,所述第二处理器被配置成响应于所述基部稳定性参数的值的范围来发布警报,其中,所述警报是声音警报、可视警报或者发送至电子设备的第二电信号中的至少一个。
7.根据权利要求1所述的AACMM,其中,所述第一测斜仪沿着至少两个轴线测量所述基部的倾斜角度。
8.根据权利要求1所述的AACMM,其中,第二测斜仪耦接至所述安装结构,并且被配置成产生响应于所述安装结构的倾斜角度的第三电信号。
9.根据权利要求8所述的AACMM,其中,所述第二测斜仪沿着至少两个轴线测量所述安装结构的倾斜角度。
10.根据权利要求8所述的AACMM,其中,所述电系统还被配置成:记录所述第二测斜仪的响应于施加至所述安装结构的第三力的第三读数,记录所述第二测斜仪的响应于施加至所述安装结构的第四力的第四读数,以及基于所述第二测斜仪的所述第三读数与所述第四读数之间的差来确定安装结构稳定性参数。
11.根据权利要求10所述的AACMM,其中,所述电系统还被配置成显示以下参数中的至少两个:所述基部稳定性参数、所述安装结构稳定性参数、以及所述基部稳定性参数与所述安装结构稳定性参数之间的差。
12.根据权利要求10所述的AACMM,其中,所述电系统还被配置成分析所述第一读数、所述第二读数、所述第三读数和所述第四读数,以确定所述基部是否牢固地附接至所述安装结构。
13.一种评估便携式铰接臂坐标测量机(AACMM)的安装稳定性的方法,所述方法包括步骤:
提供基部;
提供具有相对的第一端和第二端的可人工定位的铰接臂部分,所述臂部分包括多个连接的臂段,每个臂段包括用于产生位置信号的至少一个位置变换器,所述臂部分耦接至所述基部,其中,所述基部附接至安装结构;
提供电子电路,所述电子电路从所述变换器接收所述位置信号;
提供耦接至所述基部的第一测斜仪,其中,所述第一测斜仪被配置成产生响应于所述基部的倾斜角度的第一电信号;
提供电系统,所述电系统被配置成记录所述第一测斜仪的第一读数以及所述第一测斜仪的第二读数;
记录响应于施加至所述基部的第一力和施加至所述安装结构的第三力中的至少一个的所述第一读数;
记录响应于施加至所述基部的第二力和施加至所述安装结构的第四力中的至少一个的所述第二读数;
基于所述第一测斜仪的所述第一读数与所述第二读数之间的差来确定基部稳定性参数;以及
记录所述基部稳定性参数。
14.根据权利要求13所述的方法,还包括步骤:
将所述多个连接的臂段移动成为第一空间布置以生成所述第一力;以及
将所述多个连接的臂段移动成为第二空间布置以生成所述第二力。
15.根据权利要求14所述的方法,其中,所述基部稳定性参数还基于所述第一空间布置中的第一变换器读数以及所述第二空间布置中的第二变换器读数。
16.根据权利要求15所述的方法,还包括显示所述基部稳定性参数的步骤。
17.根据权利要求16所述的方法,还包括引导所述多个连接的臂段移动成为所述第一空间布置和所述第二空间布置的步骤。
18.根据权利要求15所述的方法,还包括发布警报的步骤。
19.根据权利要求13所述的方法,还包括利用所述第一测斜仪沿着至少两个轴线测量所述基部的倾斜角度的步骤。
20.根据权利要求13所述的方法,还包括步骤:提供第二测斜仪,所述第二测斜仪耦接至所述安装结构并且被配置成产生响应于所述安装结构的倾斜角度的第二电信号。
21.根据权利要求20所述的方法,还包括利用所述第二测斜仪沿着至少两个轴线测量所述安装结构的倾斜角度的步骤。
22.根据权利要求20所述的方法,还包括步骤:
向所述安装结构施加第三力;
记录所述第二测斜仪的第三读数;
向所述安装结构施加第四力;
记录所述第二测斜仪的第四读数;以及
基于所述第二测斜仪的所述第三读数与所述第四读数之间的差来确定安装结构稳定性参数。
23.根据权利要求22所述的方法,还包括步骤:显示以下参数中的至少两个:所述基部稳定性参数、所述安装结构稳定性参数、以及所述基部稳定性参数与所述安装结构稳定性参数之间的差。
24.根据权利要求22所述的方法,还包括步骤:分析所述第一读数、所述第二读数、所述第三读数和所述第四读数,以确定所述基部是否牢固地附接至所述安装结构。
25.一种用于实现便携式铰接臂坐标测量机(AACMM)的计算机程序产品,所述计算机程序产品包括其上包含计算机可读程序代码的存储介质,所述计算机可读程序代码在由计算机执行时使得所述计算机实现一种方法,所述方法包括:
提供基部;
提供具有相对的第一端和第二端的可人工定位的铰接臂部分,所述臂部分包括多个连接的臂段,每个臂段包括用于产生位置信号的至少一个位置变换器,所述臂部分耦接至所述基部,其中,所述基部附接至安装结构;
提供电子电路,所述电子电路从所述变换器接收所述位置信号;
提供耦接至所述基部的第一测斜仪,其中,所述测斜仪被配置成产生响应于所述基部的倾斜角度的第一电信号;
提供电系统,所述电系统被配置成记录所述第一测斜仪的第一读数以及所述第一测斜仪的第二读数;
记录响应于施加至所述基部的第一力和施加至所述安装结构的第三力中的至少一个的所述第一读数;
记录响应于施加至所述基部的第二力和施加至所述安装结构的第四力中的至少一个的所述第二读数;
基于所述第一测斜仪的所述第一读数与所述第二读数之间的差来确定基部稳定性参数;以及
记录所述基部稳定性参数。
26.根据权利要求25所述的计算机程序产品,其中,所述方法还包括步骤:
将所述多个连接的臂段移动成为第一空间布置以生成所述第一力;以及
将所述多个连接的臂段移动成为第二空间布置以生成所述第二力。
27.根据权利要求26所述的计算机程序产品,其中,所述基部稳定性参数还基于所述第一空间布置中的第一变换器读数以及所述第二空间布置中的第二变换器读数。
28.根据权利要求27所述的计算机程序产品,其中,所述电系统还被配置成显示所述基部稳定性参数。
29.根据权利要求28所述的计算机程序产品,其中,所述方法还包括引导所述多个连接的臂段移动成为所述第一空间布置和所述第二空间布置的步骤。
30.根据权利要求27所述的计算机程序产品,其中,所述方法还包括发布警报的步骤。
31.根据权利要求25所述的计算机程序产品,其中,所述方法还包括步骤:提供第二测斜仪,所述第二测斜仪耦接至所述安装结构,并且被配置成产生响应于所述安装结构的倾斜角度的第二电信号。
32.根据权利要求31所述的计算机程序产品,其中,所述方法还包括步骤:
向所述安装结构施加第三力;
记录所述第二测斜仪的第三读数;
向所述安装结构施加第四力;
记录所述第二测斜仪的第四读数;以及
基于所述第二测斜仪的所述第三读数与所述第四读数之间的差来确定安装结构稳定性参数。
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