CMM moving path adjustment assisting method and apparatus

Abstract

A method is provided to assist adjustment for a movement path of a probe. A coordinate measuring machine includes a probe having a tip for detecting a surface of an object, and a movement mechanism for moving the probe, and measures a shape of the object by allowing the probe tip to scan the surface. A controller controls operation of the coordinate measuring machine by calculating a scanning path for allowing the probe tip to perform scanning movement and the movement path followed by the probe when the probe tip moves along the scanning path, setting control points on a line connecting each position of the probe tip and each corresponding position of the probe accepting a change in position of the control points by a user, and changing the movement path accordingly. An adjustment guide unit in the controller allows the control points to move collectively.

Claims

1. A CMM moving path adjustment assisting method that assists adjustment for a movement path of a probe in a coordinate measuring system, the coordinate measuring system comprising: a coordinate measuring machine that includes the probe having a probe tip at a tip thereof for detecting a surface of an object to be measured, and a movable frame for moving the probe, and measures a shape of the object to be measured by allowing the probe tip to scan the surface of the object to be measured; and a controller that controls operation of the coordinate measuring machine, the method comprising: calculating, by the controller, a scanning path for allowing the probe tip to perform scanning movement along the surface of the object to be measured; calculating, by the controller, the movement path followed by the probe when the probe tip moves along the scanning path; setting, by the controller, control points associated with each position of the probe tip on the scanning path and each position of the probe corresponding to each position of the probe tip; and accepting, by the controller, a change in position of the control points by a user, and changing the movement path according to the change in position of the control points, wherein: the controller provides an adjustment guide that allows a plurality of the control points to move collectively, the adjustment guide is a guide line corresponding to a single straight line connecting the plurality of control points, and upon receiving an input for operating the guide line, the controller causes the plurality of control points to move collectively according to a movement of the guide line.

2. A CMM moving path adjustment assisting apparatus comprising: a coordinate measuring machine that includes a probe having a probe tip at a tip thereof for detecting a surface of an object to be measured, and a movable frame for moving the probe, and measures a shape of the object to be measured by allowing the probe tip to scan the surface of the object to be measured; and a controller that controls operation of the coordinate measuring machine, wherein the controller is configured to: calculate a scanning path for allowing the probe tip to perform scanning movement along the surface of the object to be measured; calculate a movement path followed by the probe when the probe tip moves along the scanning path; set control points associated with each position of the probe tip on the scanning path and each position of the probe corresponding to each position of the probe tip; and accept a change in position of the control points by a user, and change the movement path according to the change in position of the control points, wherein: the controller provides an adjustment guide that allows a plurality of the control points to move collectively, the adjustment guide is a guide line corresponding to a single straight line connecting the plurality of control points, and upon receiving an input for operating the guide line, the controller causes the plurality of control points to move collectively according to a movement of the guide line.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a diagram illustrating an exemplary configuration of a coordinate measuring system;

(2) FIG. 2 is an enlarged view of an object to be measured;

(3) FIG. 3 illustrates a scanning path SR and a movement path MP of a probe head 22 corresponding to the scanning path SR;

(4) FIG. 4 is a partial enlarged view of FIG. 3;

(5) FIG. 5 illustrates a state where positions of control points CP are changed;

(6) FIG. 6 is an enlarged view of the probe head;

(7) FIG. 7 illustrates an example of a screen for setting measurement conditions;

(8) FIG. 8 illustrates an example of a screen for setting adjustment guide means;

(9) FIG. 9 illustrates a scanning path SR of a contacting sphere, a movement path MP of a probe head corresponding to the scanning path SR, and a layout of control points CP corresponding to the scanning path SR and the movement path MP;

(10) FIG. 10 is an enlarged view illustrating a periphery of the control points CP and guide operation means;

(11) FIG. 11 is another enlarged view illustrating a periphery of the control points CP and the guide operation means;

(12) FIG. 12 illustrates a state where a guide curve GC is expanded;

(13) FIG. 13 is an enlarged view illustrating a vicinity of a scanning path;

(14) FIG. 14 illustrates a state where the guide curve GC is moved in an X-axis direction;

(15) FIG. 15 illustrates a state where the guide curve GC is rotated about a Z-axis;

(16) FIG. 16 illustrates a state where the control points CP are moved by a drag operation of a mouse cursor;

(17) FIG. 17 illustrates a workpiece with holes;

(18) FIG. 18 illustrates an example of a screen for setting the adjustment guide means;

(19) FIG. 19 illustrates the scanning path SR, the movement path MP of the probe head 22, and a layout of the control points CP;

(20) FIG. 20 illustrates an example of the movement path MP of the probe head 22;

(21) FIG. 21 illustrates a state where the guide point GP is moved in the X-axis direction;

(22) FIG. 22 illustrates a workpiece having a flat surface;

(23) FIG. 23 illustrates an example of a screen for setting the adjustment guide means;

(24) FIG. 24 illustrates the scanning path SR, the movement path MP of the probe head 22, and a layout of the control points CP;

(25) FIG. 25 illustrates a state where the interval between control points at both ends is increased;

(26) FIG. 26 illustrates a state where the interval between control points at both ends is reduced;

(27) FIG. 27 illustrates a state where a guide line GL is moved in parallel; and

(28) FIG. 28 illustrates an example of a horizontal shape measurement apparatus.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

(29) Hereinafter, embodiments of the present invention are illustrated and described with reference to reference symbols given to the constituent elements in the drawings.

First Embodiment

(30) A first embodiment of the present invention will be described.

(31) In the present invention, a coordinate measuring machine performs scanning measurement to measure the shape of a workpiece. The structure of the coordinate measuring machine itself has been conventionally known. The present invention can be applied to a coordinate measuring machine 20 described in the BACKGROUND OF THE INVENTION section, and also to other well-known three-dimensional coordinate measuring machines.

(32) Referring next to FIG. 6, a probe head 22 will be described.

(33) The probe head 22 is mounted at a lower end of the Z-axis spindle 34. The probe head 22 includes a rotary joint 24, a swing joint 25, and a stylus 26. An upper movable portion of the rotary joint 24 is mounted at a lower end of the Z-axis spindle 34, and a lower movable portion of the rotary joint 24 is mounted on the swing joint 25.

(34) Herein the rotary joint 24 rotates about an axis parallel with the Z-axis. The swing joint 25 is swingable about an axis perpendicular to the Z-axis.

(35) The stylus 26 is supported at a lower end of the swing joint 25.

(36) A contacting sphere 27 is provided at a tip of the stylus 26.

(37) Each of the rotary joint 24 and the swing joint 25 is driven by a motor.

(38) Accordingly, the coordinate measuring machine 20 allows the contacting sphere 27 to move in five axis directions, i.e., the X-axis direction, the Y-axis direction, the Z-axis direction, a direction about the Z-axis, and a direction about an axis perpendicular to the Z-axis.

(39) Thus, the coordinate measuring machine 20 has a function for allowing the contacting sphere 27 to move in five axis directions. This makes it possible to approach any workpiece surface by controlling both the rotary joint 24 and the swing joint 25 to be rotationally driven simultaneously, without the need for replacing the probe head 22 or changing a workpiece posture even when the workpiece has a complex shape. Consequently, the measurement efficiency can be drastically improved.

(40) A feature of this embodiment is to provide adjustment guide means for appropriately moving each control point CP with a simple and quick manipulation upon manual adjustment to appropriately adjust a movement path MP of the probe head 22.

(41) Hereinafter, the adjustment guide means will be described using a specific measurement example.

(42) The workpiece described in the BACKGROUND OF THE INVENTION section is used as a workpiece W to be measured according to this embodiment. Specifically, as illustrated in FIG. 2, scanning measurement is performed on contour shapes of blades WB which are mounted on a side surface of a main body WM in parallel.

(43) As illustrated in FIG. 2, a contour to be measured is designated by setting a section S to be measured.

(44) Further, measurement conditions are set.

(45) FIG. 7 illustrates an example of a screen for setting measurement conditions.

(46) As illustrated in FIG. 7, a scan speed (D51) and a scan pitch (D52) are set.

(47) The term scan pitch (D52) refers to a degree of fineness of measurement point sampling on a workpiece surface.

(48) Further, the fineness of setting for control points CP is set (D53).

(49) This embodiment illustrates a configuration example in which the control points CP are generated every time the curvature of a scanning path SR of the contacting sphere 27 reaches 30 degrees, or every 5 mm along the scanning path SR of the contacting sphere 27.

(50) FIG. 7 includes a field (D54) for setting a probe head direction. In this field, an angle of the probe to approach a workpiece surface can be set, for example.

(51) FIG. 8 illustrates an example of a screen for setting the adjustment guide means.

(52) This embodiment illustrates an example in which Guide curve is selected as the adjustment guide means (D55).

(53) In this embodiment, since the contour shape of the outer surface of the workpiece is measured, the guide curve GC is suitably used as the adjustment guide means.

(54) In addition to the guide curve, a guide point GP and a guide line GL, which will be described later by way of other embodiments, are also prepared as examples of the adjustment guide means.

(55) In addition, necessary conditions, such as a data sampling pitch, are set.

(56) After the settings as described above, Settings for Spacing CP button is clicked (D56).

(57) As a result, as illustrated in FIG. 9, the scanning path SR of the contacting sphere 27 and the movement path MP of the probe head 22 corresponding to the scanning path SR are generated, and the control points CP corresponding to the scanning path SR and the movement path MP are further generated to be arranged.

(58) As described in the BACKGROUND OF THE INVENTION section, the control points CP are set on a line connecting each position of the contacting sphere 27 on the scanning path SR and each position of the probe head 22 corresponding to each position of the contacting sphere 27.

(59) Further, as illustrated in FIG. 4, the stylus 26 collides with the blades WB if the movement path MP automatically calculated by a host computer 40 is not appropriate, and it is necessary for a user to perform an adjustment operation to move each control point CP so that the movement path MP of the probe head 22 can be appropriately set.

(60) In this embodiment, the guide curve GC serving as adjustment guide means 100 and guide operation means (3D Handle) 200 for operating the guide curve GC are prepared to facilitate the operation for adjusting the position of each control point upon execution of the adjustment operation for the user to move each control point CP.

(61) FIG. 10 is an enlarged view illustrating a periphery of the control points CP and the guide operation means 100.

(62) The guide curve GC is a curve obtained by smoothing all the control points CP, and all the control points CP are set on the guide curve GC.

(63) Accordingly, the control points CP are collectively moved together with the guide curve GC by scaling the guide curve GC with respect to the center of the guide curve GC.

(64) All the control points CP set on one guide curve GC are typically formed on a single plane depending on the contour of the workpiece W to be measured or the scanning path SR. Accordingly, all the control points need not be formed on a single plane as illustrated in FIG. 11.

(65) The guide curve GC typically has an oval or circular shape depending on the contour of the workpiece W to be measured and the scanning path SR, but the shape of the guide curve GC is not limited to an oval or circular shape.

(66) The guide curve GC may be a curve that connects the control points CP in a ring shape, but the shape of the curve is not limited to a closed annular shape. Alternatively, a single continuous curve having an opened shape may be used.

(67) The guide operation means (3D Handle) 200 is provided with a scale box 210, a drag ball 220, a drag axis 230, and a rotating ring 240.

(68) The scale box 210 is an operation icon for scaling up and down the guide curve GC with respect to the center of the guide curve GC.

(69) For example, when the scale box 210 is operated to be scaled up on the display screen, the guide curve GC is also expanded accordingly.

(70) Further, when the scale box 210 is operated to be scaled down, the guide curve GC is reduced accordingly.

(71) The operation for scaling up and down the scale box 210 can be performed by any method, as long as the operation can be carried out without giving a sense of discomfort to the user.

(72) For example, an operation method may be set in which the scale box 210 is scaled down by a drag operation to move an angle toward the center of the scale box 210 in the state where the mouse cursor is pointed to the angle of the scale box 210.

(73) When the guide curve GC is expanded using the scale box from the state illustrated in FIG. 10, the state illustrated in FIG. 12 is obtained, for example.

(74) Along with the expansion of the guide curve GC, all the control points CP are moved.

(75) Referring to FIG. 10, the stylus 26 is constantly parallel with the Z-axis, so that the stylus 26 collides with the workpiece W (see FIG. 4). Referring to FIG. 12, the movement path MP of the probe head 22 is larger than the scanning path SR. Thus, the stylus 26 approaches each measurement point at a slightly oblique angle.

(76) This adjustment avoids interference between the stylus 26 and the workpiece W as illustrated in the enlarged view of FIG. 13.

(77) Conventionally, it is necessary to adjust the movement path MP of the probe head 22 by manually inputting each position of control points to be moved.

(78) In this embodiment, only a simple operation of slightly expanding the guide curve GC using the scale box 210 allows the positions of all control points to be appropriately moved at the same time. Since all the control points CP are set on the guide curve GC, all the control points CP are set on a single smooth curve. Accordingly, the movement path MP of the probe head 22 is also smooth, so that the smooth and optimum movement path MP of the probe head 22 can be obtained without a slight adjustment of the position of each control point CP.

(79) The drag ball 220 is an operation icon for moving the guide curve. The drag ball 220 allows the guide curve GC to move in any direction in a three-dimensional space.

(80) The drag ball 220 may be located at the center of the guide curve GC, for example, on the display screen 41.

(81) As is obvious from FIG. 11, the drag ball 220 is disposed at a position corresponding to a substantial center of the guide curve GC, though this may be somewhat difficult to see in FIG. 10 in which the control points overlap each other.

(82) The drag ball 220 is movable in parallel with the X-axis, Y-axis, or Z-axis, and is also movable to a midpoint between the X-axis and the Y-axis, for example, irrespective of the axis directions of the coordinate system.

(83) The drag axis 230 is an operation icon for moving the guide curve GC in the X-axis direction, Y-axis direction, or Z-axis direction.

(84) The drag axis 230 is provided with an X-axis direction arrow 230x, a Y-axis direction arrow 230y, and a Z-axis direction arrow 230z.

(85) For example, when the X-axis direction arrow 230x is selected and dragged by the mouse cursor, the guide curve GC can be moved in the direction along the X-axis.

(86) The X-axis, Y-axis, and Z-axis directions herein described are defined in a workpiece coordinate system, for example. Alternatively, a machine coordinate system may be used, and thus the user may select one of these systems.

(87) When the guide curve GC is moved in the X-axis direction using the drag ball 220 or the X-axis direction arrow 230x from the state illustrated in FIG. 12, the state illustrated in FIG. 14 is obtained, for example.

(88) A position where the stylus 25 does not interfere with the neighboring blade WB may be determined by shifting the position of the guide curve GC to right or left.

(89) Also in this case, all the control points CP are simultaneously moved along with the movement of the guide curve GC, so that the operation is extremely simplified.

(90) The rotating ring 240 is an operation icon for rotationally moving the guide curve GC. Examples of the rotation operation include a rotation about the X-axis, a rotation about the Y-axis, and a rotation about the Z-axis. Accordingly, as illustrated in FIG. 11, an X-axis rotation icon 240x, a Y-axis rotation icon 240y, and a Z-axis rotation icon 240z may be provided around the respective axes. Alternatively, when only a rotation about the Z-axis is allowed, for example, due to the limitations of the scanning path SR and the movement path MP, only the Z-axis rotation icon 240z may be displayed as illustrated in FIG. 12.

(91) When the guide curve GC is rotated about the Z-axis from the state illustrated in FIG. 12 by using the Z-axis rotation icon 240z, the state illustrated in FIG. 15 is obtained, for example.

(92) Also in this case, all the control points CP are simultaneously moved along with the movement of the guide curve GC, so that the operation is extremely simplified.

(93) In the operation examples described above, the operation for allowing all the control points to be moved simultaneously using the guide operation means (3D Handle) 200 has been described.

(94) Herein, the positions of the control points CP may be individually moved to make a final slight adjustment.

(95) In this embodiment, upon movement of the respective positions of the control points CP, each control point CP can be moved to a desired position on the display screen by selecting and dragging the control point CP by the mouse cursor 42 as illustrated in FIG. 16.

(96) An operation (GUI) using such a pointing device is more intuitive and simpler than a conventional command-based operation such as an input of coordinates. This contributes to simplification and improvement in efficiency of a measurement operation.

Modified Example

(97) Although the above embodiment illustrates a guide curve that connects all control points, the guide curve need not connect all control points. Alternatively, a virtual curve that smoothly connects three or more control points selected by a user, for example, may be used as a guide curve.

(98) In this case, assuming that the user selects and drags one of the control points connected by the guide curve, non-selected control points are also moved so that the control points are connected by a smooth curve such as a spline curve. This simplifies the adjustment of the movement path, and allows the user to selectively adjust only desired control points.

Second Embodiment

(99) Next, a second embodiment of the present invention will be described.

(100) While the basic structure of the second embodiment is the same as that of the first embodiment, a guide point will be described in the second embodiment as an example of the adjustment guide means.

(101) Since the first embodiment illustrates measurement of a contour shape of a workpiece outer surface, a guide curve is suitably used as the adjustment guide means.

(102) Herein, in the case where an inner diameter of each hole WH in the workpiece W is measured as illustrated in FIG. 17, for example, a guide point is used as the guide adjustment means.

(103) The inner diameter of each hole illustrated in FIG. 17 is designated as a measurement target.

(104) Then, Guide point is selected as the adjustment guide means on the setting screen illustrated in FIG. 18, and the Settings for Spacing CP button is clicked (D56). As a result, the movement path MP of the probe head 22 and the control points CP corresponding to the scanning path SR are arranged on the display screen as illustrated in FIG. 19.

(105) Herein, the position of the probe head 22 is not moved, and the contacting sphere 27 is allowed to scan-move along the inner diameter of the hole WH by the operation of each of the swing joint 25 and the rotary joint 24, so that the movement path MP corresponds to one point.

(106) As illustrated in FIG. 20, the probe head 22 may be moved also in the scanning measurement of the inner diameter of the hole WH.

(107) The guide point GP may correspond to one point where the control points CP are concentrated.

(108) The scanning path SR has a circular shape, so that the movement path MP also has a circular shape.

(109) Accordingly, the control points CP are arranged in a circular shape. All the control points are concentrated on the center point of the circle or on one point on an axial line passing through the central axis of the circle. As a result, all the control points are collectively moved along with a movement of the point.

(110) When the movement path corresponds to one point as illustrated in FIG. 19, the control points CP may be concentrated on the one point. Then, the guide point GP is disposed at a position corresponding to the one point. Accordingly, referring to FIG. 19, the guide point GP matches the point of the movement path MP. Further referring to FIGS. 19 and 20, the guide point and the control point overlap and appear as one point.

(111) As with the first embodiment, the guide operation means 200 is provided to move the position of the guide point GP. In the second embodiment, the drag ball 220 and the drag axis 230 are provided, but the scale box and the rotating ring are not provided due to limitations on the degree of freedom of movement (change) of the guide point GP.

(112) Since the drag ball 220 is disposed at the center of the control point group, the drag ball 22 overlaps the control points as illustrated in FIGS. 19 and 20.

(113) Referring to FIG. 19, the guide point GP, the point of the movement path MP, and the drag ball 220 overlap each other.

(114) In the actual measurement of a hole diameter, scanning may be performed by bringing the probe head 22 closer to the workpiece W, or by bringing the probe head 22 away from the workpiece W.

(115) Otherwise, the probe head 22 may approach a hole from a slightly oblique direction with respect to the central axis of the hole.

(116) In such cases, the movement path MP of the probe head 22 is collectively moved along with a movement of the drag ball 220 on the display screen.

(117) In the case of FIG. 19, the position of the probe head 22 is moved.

(118) FIG. 21 illustrates a case where the guide point GP is moved in the X-axis direction using the drag ball or the drag axis from the state illustrated in FIG. 19.

(119) In the conventional operation, a number of control points CP are arranged even in the case of measuring a hole diameter. The operation of shifting the positions of these control points CP one by one by manual input is troublesome.

(120) In this regard, the use of the guide point GP of this embodiment allows the control points CP to be collectively moved at one time, so that the operation is extremely simplified.

Third Embodiment

(121) Next, a third embodiment of the present invention will be described.

(122) While the basic structure of the third embodiment is the same as that of each of the first and second embodiments, a guide line GL will be described as an example of the adjustment guide means in the third embodiment.

(123) In the third embodiment, as illustrated in FIG. 22, assume that measurement is performed along a predetermined straight line on a flat outer surface of a workpiece.

(124) In this case, the guide line GL is used as the adjustment guide means.

(125) A line L illustrated in FIG. 22 is designated as a measurement target.

(126) In the setting screen illustrated in FIG. 23, Guide line is selected as the adjustment guide means (D58), and Settings for Spacing CP button is clicked (D56).

(127) As a result, the movement path MP of the probe head 22 and the control points CP corresponding to the scanning path SR are arranged on the display screen as illustrated in FIG. 24.

(128) Referring to FIG. 24, the scanning path SR is a straight line, and the movement path MP of the probe head 22 is also a straight line.

(129) Accordingly, the control points CP may be aligned on a straight line.

(130) Herein, the guide line GL corresponds to the line connecting the control points CP at both ends.

(131) A display of the control points CP is omitted except for the control points at both ends, and only the guide line GL is displayed.

(132) As with the first embodiment, the guide operation means 200 is provided to move the position of the guide line GL. In the third embodiment, the drag ball 220, the drag axis 230, the scale box 210, and the rotating ring 240 are arranged.

(133) In this case, however, the rotating ring 240 is allowed to rotate only about an axis parallel with the guide line GL due to limitations on the degree of freedom of movement of the guide line GL.

(134) The drag ball 220 is disposed at a midpoint between control points at both ends.

(135) As operation examples, FIG. 25 illustrates an example where the guide line GL is expanded using the scale box 210, and FIG. 26 illustrates an example where the guide line GL is reduced using the scale box 210.

(136) Along with expansion or reduction of the interval between the control points CP at both ends, all the control points CP are simultaneously moved and the movement path MP is expanded or reduced.

(137) FIG. 27 illustrates an example where the guide line GL is moved in parallel using the drag ball 220 or the drag axis 230 from the state illustrated in FIG. 25.

(138) Also in this case, the positions of all the control points CP are changed together with the guide line GL.

Modified Example

(139) Also in the case of using the guide line GL, three or more control points CP selected by the user, or the selected control points CP and some other control points CP around the selected control points may be moved to generate the guide line GL.

(140) The present invention is not limited to the above embodiments, but may be modified in various manners without departing from the scope of the present invention.

(141) An appropriate addition may be made in consideration of the usability of each user. For example, the size of an icon may be appropriately changed so as to easily recognize selected guide operation means when one of the guide operation means is selected by a mouse cursor.

(142) Although a contact probe is used by way of example in the above embodiments, the present invention can also be applied to a non-contact scanning probe.

(143) The above embodiments exemplify a mode in which the movement mechanism 30 of the coordinate measuring machine 20 includes the gate-shaped frame 31. However, the configuration of the coordinate measuring machine is not limited to the above embodiments, as long as the coordinate measuring machine has a function for allowing a probe to move along the surface of a workpiece.

(144) A shape measurement apparatus shown in FIG. 28 is illustrated by way of example.

(145) The shape measurement apparatus illustrated in FIG. 28 includes two three-dimensional coordinate measuring machines CMM1 and CMM2. The two three-dimensional coordinate measuring machines CMM1 and CMM2 are opposed to each other with the object to be measured W interposed therebetween.

(146) The three-dimensional coordinate measuring machine CMM1 is provided with a spindle 34A, a probe 22A, a driving device 30A, and a controller 40A. The probe 22A is mounted at a tip of the spindle 34A. The driving device 30A drives the spindle 34A and the probe 22A. The controller 40A performs movement control for measurement.

(147) Similarly, the three-dimensional coordinate measuring machine CMM2 is provided with a spindle 34B, a probe 22B, a driving device 30B, and a controller 40B. The probe 22B is mounted at a tip of the spindle 34B. The driving device 30B drives the spindle 34B and the probe 22B. The controller 40B performs movement control for measurement.

(148) The spindles 34A and 34B are provided in the horizontal direction (Y-direction), and are respectively supported by columns 31A and 31B each having a height in the Z-direction.

(149) The spindles 34A and 34B are movable vertically along the columns 31A and 31B, and are slidable in the horizontal direction with respect to the columns 31A and 31B.

(150) Accordingly, the present invention can also be applied if the spindles 31A and 34B are provided in the horizontal direction.

(151) Herein, since the two three-dimensional coordinate measuring machines CMM1 and CMM2 are installed, the controller 40A connected to the three-dimensional coordinate measuring machine CMM1 and the controller 40B connected to the three-dimensional coordinate measuring machine CMM2 are connected together by wired or wireless linking means for allowing the controllers to be linked together. The two controllers 40A and 40B perform control in collaboration with each other, thereby achieving movement control for the overall shape measurement apparatus.

(152) Instead of installing the two three-dimensional coordinate measuring machines, only one of the three-dimensional coordinate measuring machine CMM1 and the three-dimensional coordinate measuring machine CMM2 may be installed.

(153) The disclosure of U.S. Pat. No. 7,971,365 (date of patent: Jul. 5, 2011) is incorporated in this application in its entirety by reference.

(154) From the invention thus described, it will be obvious that the embodiments of the invention may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are intended for inclusion within the scope of the following claims.