WO2003081169A1 - Appareil et procede de determination de la relation spatiale entre deux surfaces - Google Patents

Appareil et procede de determination de la relation spatiale entre deux surfaces Download PDF

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Publication number
WO2003081169A1
WO2003081169A1 PCT/GB2003/001240 GB0301240W WO03081169A1 WO 2003081169 A1 WO2003081169 A1 WO 2003081169A1 GB 0301240 W GB0301240 W GB 0301240W WO 03081169 A1 WO03081169 A1 WO 03081169A1
Authority
WO
WIPO (PCT)
Prior art keywords
positional offset
flexible arm
centre
measurement instrument
instrument
Prior art date
Application number
PCT/GB2003/001240
Other languages
English (en)
Inventor
John Cameron
Original Assignee
Orcam Engineering Limited
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 Orcam Engineering Limited filed Critical Orcam Engineering Limited
Priority to EP03715095A priority Critical patent/EP1492993A1/fr
Priority to AU2003219290A priority patent/AU2003219290A1/en
Publication of WO2003081169A1 publication Critical patent/WO2003081169A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B5/25—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes

Definitions

  • the present invention relates to a measuring device, and in particular, though not exclusively, to a device for measuring the position and orientation of two surfaces with respect to each other.
  • An example of such an application is the position and orientation of two pipe end sections, between which a custom manufactured closing spool is required to be installed.
  • the dimensions of the closing spool relate directly to the position and orientation of the respective flanges on the end of the pipe sections.
  • a further alternative solution presented in the Prior Art is a measurement system based on a linear transducer and inclinometer that are employed to define a common axis between the two surfaces. Angular transducers are then employed to measure the orientation of each surface with respect to the commonly defined axis. Additional measurement systems such as theodolites and laser systems involve considerable set-up times and a significant amount of post measurement processing of the captured data. Therefore, such systems are known to be cumbersome and require additional support in order to maintain the device in position while the required readings are taken. Such characteristics are an obvious disadvantage when the measurement system is required to be deployed at remote locations.
  • a positional offset measurement instrument for determining the spatial relationship between two surfaces comprising a first and a second end connector and a flexible arm, wherein the flexible arm comprises a plurality of joints each joint providing a degree of freedom such that the flexible arm acts to move the first and second end connectors within a set volume of space.
  • the flexible arm comprises at least six joints.
  • first and second end connectors enable the positional offset measurement instrument to be connected to the surfaces, between which the spatial relationship is to be determined, such that they mechanically support the weight of the instrument.
  • the positional offset measurement instrument further comprises a computer processing unit.
  • the positional offset measurement instrument further comprises a housing unit suitable for calibrating and storing the flexible arm.
  • an end connector comprises a centre finding flange adapter suitable for connecting one end of the flexible arm to an open flange pipe.
  • the centre finding flange adapter comprises a central locator, a main body and two or more arms.
  • the main body connects the central locator to the arms wherein rotation of the central locator acts to move centre finding flange adapter between an unsecured position and a secured position.
  • the arms are fastened about the pitch centre diameter of the open flange pipe whilst the central locator is positioned at the centre of the open flange pipe.
  • the joints comprise a rotational spindle, a mechanical coupling means and a transducer.
  • the joints further comprise a thermistor or a similar device for measuring temperature.
  • the positional offset measurement instrument further comprises a power source and a microprocessor unit.
  • the microprocessor receives and processes information from each of the transducers relating to the physical environment of the associated joint thereafter transmitting the information to the computer processing unit .
  • the microprocessor relays information transmitted by the computer processing unit to the transducers thus enabling the flexible arm to position the first and second end connectors at a pre determined spatial relationship.
  • a centre finding flange adapter suitable for connecting to an open flange pipe comprising a central locator, a main body and two or more arms.
  • the main body connects the central locator to the arms wherein rotation of the central locator acts to move the centre finding flange adapter between an unsecured position and a secured position.
  • the arms are fastened about the pitch centre diameter of the open flange pipe whilst the central locator is positioned at the centre of the open flange pipe.
  • a simulator for aiding in the reproduction of the spatial relationship between two surfaces comprising a rig and a positional offset measuring instrument in accordance with the first aspect of the present invention.
  • the positional offset measuring instrument provides a calibration means for the simulator.
  • the rig comprises a base frame on which is mounted one or more guides, two or more posts, two or more adjustable arms, two or more pivotal mounts and two or more flange plates.
  • a first post is fixed to the base frame while a second is mounted on the one or more guides such that the lateral position of the second post relative to the first can be altered.
  • the adjustable arms provide a means for altering the relative distance between the flange plates.
  • pivotal mounts provide a means for altering the relative angle between the flange plates.
  • a method of determining the spatial relationship between two surfaces comprising: 1) Setting a flexible arm of a Positional Offset Measuring Instrument in accordance with the first aspect of the present invention to a known reference position; 2) Connecting one end of the flexible arm to a first surface; 3) Connecting the second end of the flexible arm to a second surface; 4) Recording a data set that defines the relative spatial relationship between the surfaces.
  • the known reference position is defined by a housing means suitable for storing and transporting the Positional Offset Measuring Instrument.
  • the flexible arm of the Positional Offset Measuring Instrument connects directly to the centre of the first and second surfaces.
  • the flexible arm connects to a surface via a Centre Finding Flange Adapter employed to locate the centre of said surfaces.
  • the data set that defines the relative spatial relationship between the surfaces comprises five or more vectors measured relative to the known reference position.
  • the vectors are measured by transducers of the Positional Offset Measuring Instrument that each relay information to a computer processing unit via an internal microprocessor unit.
  • the data set further comprises temperature measurements recorded by one or more thermistors.
  • the information relayed to the computer processing unit defines the physical environment of the associated joints.
  • the information relates to the mechanical position and temperature of the joint.
  • the computer processing unit calculates and displays the data set from the relayed information.
  • the data set comprises average readings taken over a predetermined length of time such that temperature and mechanical vibrations effects experienced by the flexible arm are accounted for.
  • the computer processing unit relays the calculated data set to a remote location.
  • a method for manufacturing a closing spool for connection with two pipe ends comprising: 1) Determining the spatial relationship between two surfaces in accordance with the method of the fourth aspect of the present invention; 2) Employing a simulator in accordance with the apparatus of the third aspect of the present invention to reproducing the spatial relationship between the two surfaces; 3) Constructing the closing spool in situ within the simulator.
  • the construction of the closing spool comprises the step of employing the flexible arm of the Positional Offset Measuring Instrument to verify that the dimensions of the closing spool fall within a predetermined tolerance value.
  • closing spool is then transported to and fixed between the two pipe ends.
  • Example embodiments of the present invention which are given by way of example only, are described with reference to the following figures:
  • Figure 1 presents a schematic representation of a first embodiment of a positional offset measurement instrument (POMI) in situ between two pipe ends;
  • POMI positional offset measurement instrument
  • Figure 2 presents further detail of a flexible arm of the POMI of Figure 1;
  • Figure 3 presents a schematic representation of: (a) a first transfer housing; and (b) a second transfer housing employed within the flexible arm of Figure 2;
  • Figure 4 presents an alternative embodiment of the POMI suitable for deployment with open ended pipes
  • FIG. 5 presents a schematic representation of a Centre Finder Flange Adapter (CFFA) of the POMI of Figure 4;
  • Figure 6 presents a schematic representation of a simulation rig, employed by the POMI, to aid in the construction of a closing spool.
  • FIG. 1 a schematic representation of an embodiment of a positional offset measurement instrument (POMI) is generally depicted at 1, in situ between two pipes 2 that comprise end cap flanges 3 with central locators. From Figure 1 the POMI 1 can be seen to comprise a flexible arm 4, further detail of which is presented in Figure 2, and a computer processing unit (CPU) 5. To aid the description of the present embodiment of the POMI 1 opposite ends the flexible arm 4 have been labelled A and B, respectively.
  • CPU computer processing unit
  • the flexible arm 4 can be seen to comprise a first end connector 6 that is rigidly connected to a first transfer housing assembly 7. Located perpendicular to the first transfer housing assembly 7 is a second transfer housing assembly 8.
  • a third transfer housing assembly 10 Perpendicular to the second transfer housing 8 there is rigidly attached a first extension member 9.
  • One end of a third transfer housing assembly 10 is thereafter rigidly attached to the opposite end of the first extension member 9 such that, it lies parallel to the second transfer housing 8.
  • the opposite end of the third transfer housing 10 is then attached perpendicularly to one end of a second extension member 11.
  • the first extension member 9 comprises a hollow tube within which is housed a power source 12 and a microprocessor unit (PCB) 13 employed to control and monitor the flexible arm 4 of the POMI 1, as described below.
  • PCB microprocessor unit
  • a fourth transfer housing assembly 14 located so as to have a parallel orientation to the second extension member 11.
  • a fifth transfer housing assembly 15 is thereafter attached at right angles to the fourth transfer housing assembly 14.
  • a sixth transfer housing assembly 16 is then rigidly attached to the fifth housing assembly 15 such that the sixth housing assembly 16 is orientated perpendicular to the fifth 15. Finally, at the opposite end of the sixth housing assembly 16 is rigidly attached a second end connector 17.
  • the transfer housing assemblies 7, 8, 10, 14, 15 and 16 all work on a similar principle in that they provide for the rotational displacement of one section of the flexible arm 4 relative to another.
  • Figure 1 outlines the degrees of rotational freedom (Rl - R6) provided by the six transfer housing assemblies 7, 8, 10, 14, 15 and 16, respectively, for the various sections of the flexible arm 4.
  • FIG. 3 A schematic representation of the transfer housing assemblies 7, 8, 14, 15 and 16 is presented in Figure 3(a) while that of transfer housing 10 is presented in Figure 3 (b) .
  • the transfer housing assemblies 7, 8, 10, 14, 15 and 16 can be seen to comprise a central rotational spindle 18, a transducer 19 and a mechanical coupling 20.
  • the central rotational spindle 18 is mounted within the mechanical coupling 20 so that it connects to the transducer 19.
  • a data cable 21 is also provided in order to relay technical data to and from the microprocessor unit 13.
  • the transducers 19 provide for the taking of high accuracy rotational measurements from the associated transfer housing assemblies 7, 8, 10, 14, 15 and 16. These measurements are then relayed and recorded by the microprocessor unit 13.
  • Thermistors can also be incorporated within the transfer housing assemblies 7, 8, 10, 14, 15 and 16 in order to provide temperature information to the microprocessor unit 13. Such information is essential for the accurate reproduction of the spatial relationship between the two pipe ends (as described below) and hence is vital to the production of a high tolerance closing spool.
  • the combination of the computer processing unit 5 and the microprocessor unit 13 is employed to calibrate the flexible arm 4 at a known physical datum or zero reference position, from which all relative movements can be measured.
  • this zero reference position is defined by a casing unit (not shown) that is employed to safely store and transport the flexible arm 4.
  • the microprocessor unit 13 is further employed to relay information to the computer processing unit 5.
  • Optical or electrical transmitting and receiving devices may be employed to achieve this relaying of information.
  • the computer processing unit 5 may comprise a hand held control device, a lap top computer, a desk top computer or any other suitable computer device.
  • the computer processing unit 5 is employed to store information relating to the position of the flexible arm or alternatively to set the flexible arm to a predetermined position based on co-ordinates stored by or entered into the computer processing unit 5.
  • the POMI 1 is used to measure the displacement between any two points in three dimensional space.
  • any two points in three dimensional space can be represented in a Cartesian coordinate system by the vectors (x,y,z) and (x',y'z') . Therefore, to fully describe the system it is required to define six independent variables.
  • a (x-x')
  • b (y- y' )
  • each of the above points should be the centre points of a plane namely, the centre of the end cap flanges 3. It can be seen that such planes themselves exhibit three degrees of freedom, tilt in two dimensions and rotation (t h , t v , r t ) and (t h ' , t v ' , r' t ) respectively.
  • the above "reference-displacement" form of measurement provides that the POMI 1 can determine the spatial relationship between two surfaces by recording the five vector data set [x' , y' , z' , z, r ' ] • This sixth vector redundancy is achieved by allowing end A to have an axis aligned with one of the orthogonal axis of end B.
  • the microprocessor unit 13 can be employed to provide an average value over a number of measurements which are thereafter stored by the computer processing unit 5. Such a feature allows the POMI 1 to compensate for any vibrations experienced by the flexible arm 4.
  • the recorded data is capable of thereafter being transmitted by the computer processing unit 5 to a remote location in a digital format. Therefore, the recorded data does not degrade with distance and hence can effectively be sent to any required location.
  • first 9 and second 11 extension members can be adapted so as to incorporate extension lengths (not shown) .
  • extension lengths are automatically detected by the microprocessor unit 13 and so are incorporated into the calculation of the spatial relationship between the two surfaces, as required.
  • the POMI 1 can be further adapted so as to be capable of determining the spatial relationship between two open flange pipes 22, as presented in Figure 4.
  • the POMI 1 further comprises two Centre Finder Flange Adapters (CFFA) 23 as shown in Figure 5, one being employed with each open flange pipe 22.
  • the CFFA can be seen to comprise a central locator 24, a main body 25 and three arms 26.
  • the central locator 24 is suitable for receiving the end connectors 6 and 17 of the flexible arm 4 while the main body 25 is employed to control the relative position of the arms 26.
  • a CFFA 23 is deployed with an open flange pipe 22 such that it locates with a first bolt hole from the 12 o'clock position via the central locator 24.
  • the arms 26 then rotate through the main body 25 so as to capture the pitch centre diameter (PCB) of the flange face. This process ensures that an accurate pipe centre measurement of the pipe 22 is achieved.
  • PCB pitch centre diameter
  • the first bolt hole can be any hole on the flange. Holes two, three and four can then be located at 90°, 180° and 270° positions, respectively, relative to the first hole.
  • the first bolt hole can again be any hole on the flange. Holes two and three are then located at 120° and 240° positions, respectively, relative to the first hole.
  • a simulator In order to aid in the construction of a closing spool a simulator is often employed.
  • the traditional approach to constructing and producing such a simulator is based on the concept of providing an accurately manufactured CNC rig that incorporates expensive transducers to feedback actual positional information to a control system. Data parameters are typically entered into the control system as set points, and the simulator manipulates the axis so as to achieve these set point positions.
  • Employing the POMI 1 allows a simplified simulator 27 to be used in the construction of a closing spool, as depicted in Figure 6.
  • the simulator 27 comprises a base frame 28, a set of parallel runners 29, a first 30 and second 31 post, two adjustable arms 32, two pivotal mounts 33 and two flange plates 34.
  • the first post 30 can be seen to be fixed to the base frame 28 while the second 31 is mounted on the parallel runners 29 such that it can be moved laterally relative to the first post 30.
  • the adjustable arms 32 allow the relative distance between the flange plates 34 to be altered while the pivotal mounts 33 control the relative angle between these plates 34.
  • the simulator 27 employs the POMI 1 as the feedback system for positioning the flange plates 34 relative to each other and so provides a mechanical reproduction of the surveyed flange arrangement. This provides the present simulator 27 with several significant advantages over those taught in the Prior Art.
  • the . simulator 27 described above does not require a high precision manufactured structure or the incorporation of expensive transducers. Also there is no requirement for the simulator 27 to be independently calibrated as the POMI 1 can be employed to calibrate and adjust the simulator 27 as appropriate.
  • a further advantage of the described simulator 27 occurs if the simulator 27 becomes slightly bent or twisted (as is very possible in a working environment) as these effects can compensated for by the POMI 1. Therefore, the simulator 27 can be used as a physical clamping facility during the fabrication of the required closing spool without the concern of it being damaged.
  • the flexible arm 4 can be employed as a further check on the required tolerance of the piece.
  • the computer processing unit 5 can be employed to accurately set the orientation of the flexible arm 4 such that the first and second end connectors 6 and 17 are positioned so as to locate with the opposite ends of the manufactured spool piece. Therefore, by bringing the flexible arm 4 into physical contact with the spool piece a check on its dimensions can be made. In order to produce a suitable spool piece these dimensions are required to fall within a predetermined tolerance level before the spool piece will be deemed acceptable for transportation to, and fitting at, the required location.
  • the POMI as described in accordance with the various aspects of the present invention exhibits several advantages for the fabrication of a bespoke closing spool.
  • many of the problematic features of the iterative trial and error method have been circumvented. Therefore employing the POMI provides a more efficient method for producing a closing spool that does not require the same levels of manual skill.
  • the described embodiments of the present invention do not require an origin at a distance from the surfaces, or a common axis between the surfaces to be defined.
  • the POMI employs a "reference- displacement" form of measurement that permits the spatial relationship between the two surfaces to be described in terms of a five vector data sets instead of the previously required six vector data sets.
  • a further advantage of the described embodiments of the POMI is that it is both light and flexible such that it can be easily deployed while supporting it's own weight between either a set of pipes comprising end cap flanges or open ended pipes when the POMI itself comprises CFFA. Therefore, once deployed the POMI does not require additional external support or the continued presence of an operator.
  • the POMI also allows a simplified simulator to be employed in the manufacture of the closing spool.
  • a simplified simulator reduces the tendency to force a poorly fitting closing spool into a space between two pipe end sections. This reduces the detrimental effects of undue stress and strain being applied to the associated pipes and so lowers the likelihood of unwanted fracturing and leaks.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

L'invention concerne un appareil et un procédé permettant de faciliter la fabrication d'un élément d'espacement pour une installation entre deux parties d'extrémité de conduit. L'appareil comprend un instrument de mesure de décalage de positionnement conçu pour être relié aux deux brides de capuchon d'extrémité, et pour déterminer la relation spatiale entre les deux brides de capuchon d'extrémité de ces conduits. Dans un autre mode de réalisation de l'invention, cet appareil comprend également une bride de recherche de centre conçue pour relier un bras souple de l'instrument à un conduit à bride ouvert. L'invention concerne également un appareil de forage de simulation permettant à l'instrument de mesure de décalage de positionnement de reproduire les données de mesure enregistrées à un emplacement approprié à la fabrication de l'élément d'espacement. Ensuite, l'instrument de mesure de décalage de positionnement peut tester et vérifier les dimensions de l'élément d'espacement de sorte que ces dimensions peuvent être confirmées pour être comprises dans la plage des niveaux de tolérance prédéterminés.
PCT/GB2003/001240 2002-03-22 2003-03-24 Appareil et procede de determination de la relation spatiale entre deux surfaces WO2003081169A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP03715095A EP1492993A1 (fr) 2002-03-22 2003-03-24 Appareil et procede de determination de la relation spatiale entre deux surfaces
AU2003219290A AU2003219290A1 (en) 2002-03-22 2003-03-24 Apparatus and method for determining the spatial relationship between two surfaces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0206951.6 2002-03-22
GB0206951A GB0206951D0 (en) 2002-03-22 2002-03-22 Determining spatial relationship between two surfaces

Publications (1)

Publication Number Publication Date
WO2003081169A1 true WO2003081169A1 (fr) 2003-10-02

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PCT/GB2003/001240 WO2003081169A1 (fr) 2002-03-22 2003-03-24 Appareil et procede de determination de la relation spatiale entre deux surfaces

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Country Link
EP (1) EP1492993A1 (fr)
AU (1) AU2003219290A1 (fr)
GB (1) GB0206951D0 (fr)
WO (1) WO2003081169A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8220174B1 (en) 2011-01-10 2012-07-17 Saudi Arabian Oil Company Adjustable template jig and related methods

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4031490A1 (de) * 1990-03-22 1991-09-26 Schwenk Oskar Gmbh & Co Kg Bohrungsmessgeraet
JPH11108663A (ja) * 1997-10-01 1999-04-23 Toyo Technos:Kk 管状構造物の管内測量の補助具
US5978748A (en) * 1998-07-07 1999-11-02 Faro Technologies, Inc. Host independent articulated arm
WO2001013060A1 (fr) * 1999-08-13 2001-02-22 Advanced Sensor Technologies Llc Systeme de detection de la position d'une sonde a utiliser dans une machine de mesure des coordonnees

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4031490A1 (de) * 1990-03-22 1991-09-26 Schwenk Oskar Gmbh & Co Kg Bohrungsmessgeraet
JPH11108663A (ja) * 1997-10-01 1999-04-23 Toyo Technos:Kk 管状構造物の管内測量の補助具
US5978748A (en) * 1998-07-07 1999-11-02 Faro Technologies, Inc. Host independent articulated arm
WO2001013060A1 (fr) * 1999-08-13 2001-02-22 Advanced Sensor Technologies Llc Systeme de detection de la position d'une sonde a utiliser dans une machine de mesure des coordonnees

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1999, no. 09 30 July 1999 (1999-07-30) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8220174B1 (en) 2011-01-10 2012-07-17 Saudi Arabian Oil Company Adjustable template jig and related methods
WO2012096944A1 (fr) 2011-01-10 2012-07-19 Saudi Arabian Oil Company Gabarit réglable et procédés associés

Also Published As

Publication number Publication date
AU2003219290A1 (en) 2003-10-08
EP1492993A1 (fr) 2005-01-05
GB0206951D0 (en) 2002-05-08

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