WO2010147575A1 - Procédé de préparation d'un panneau pour l'adapter à une structure - Google Patents

Procédé de préparation d'un panneau pour l'adapter à une structure Download PDF

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Publication number
WO2010147575A1
WO2010147575A1 PCT/US2009/006631 US2009006631W WO2010147575A1 WO 2010147575 A1 WO2010147575 A1 WO 2010147575A1 US 2009006631 W US2009006631 W US 2009006631W WO 2010147575 A1 WO2010147575 A1 WO 2010147575A1
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WO
WIPO (PCT)
Prior art keywords
cable
carriage
panel
design
computer
Prior art date
Application number
PCT/US2009/006631
Other languages
English (en)
Inventor
David W. Swanson
William Robert Swanson
Original Assignee
Swanson David W
William Robert Swanson
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
Priority claimed from PCT/US2009/003690 external-priority patent/WO2009154792A1/fr
Application filed by Swanson David W, William Robert Swanson filed Critical Swanson David W
Priority to US12/737,486 priority Critical patent/US8220167B2/en
Publication of WO2010147575A1 publication Critical patent/WO2010147575A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Definitions

  • This invention relates in general to a method for preparing a panel, such as wallboard, drywall, aircraft skin, ship plate or counter tops, for fitting to a structure and more specifically involves a device including cable measurement for measuring the structure and including a laser pointer or an extensible cable for positioning pertinent design aspects of the structure the on the panel.
  • a typical installer uses a tape measure and a pad of paper to determine the locations of studs, outlet boxes, windows, wiring, pipes, and other features of the wall structure. Then the installer uses the measurements, a tape measure and a pencil to produce a design of the wall structure on a sheet of drywall. This process is typically inexact and the installer often measures, marks, cuts and fits several times before the drywall is acceptable. The process is error prone, and it is common to drive drywall fastening screws through the drywall into wires and pipes. There are cases where installer have covered electrical outlet boxed and even windows. Fortunately, the allowable error is rather large because the final fitting is often far from perfect. Therefore, it would be desirable to have a faster and more accurate method for measuring the wall structure and placing a design on the drywall.
  • the invention is a method for using a cable measurement and cable positioning or laser projection device to measure a structure to produce a digitized design of the structure and to put the design on a panel by laser pointer projection or by cable positioning so that the panel can be marked and cut for fitting on the structure.
  • a first embodiment of the device includes a cable measuring portion for measuring direction and distance to points on the structure, a computer for producing a digitized design of the structure from the measured points and an output portion including a laser pointer mounted on a gimbal driven by computer controlled servoed motors for projecting the produced design onto a panel.
  • the method includes the steps of producing a digitized design of the structure by placing the cable free end seriatim on a sufficient number of points of the structure to define the structure with the computer in the input mode; positioning the device and panel at known relative position; and switching the computer to output mode to project the design.
  • the output portion uses the cable for positioning the design and includes a cable tensioning motor for adjusting the force required to move the cable free end away from the base unit and cable direction means for directing a user to move the cable free end toward the portion of the design on the panel and the method of outputting design includes the steps of, responsive to the direction from the cable direction means, moving the cable free end toward a portion of the design, and moving the cable free end radially from the base unit to a distance of cable tension adjustment indicative that the free end is a distance to the portion of the design.
  • the device may be placed in a known position and orientation relative to the panel, or the device may first be used as a cable measuring input device to measure the relative location and orientation of the workpiece.
  • Figure 1 is a perspective view of a room showing a use of the cable measuring and cable positioning or laser projecting device of the invention.
  • Figure 2 is a top, front, right side, partially cut away, perspective view of selected elements of the base unit of the device.
  • Figure 3 is a bottom, front, left side, partially cut away, perspective view of selective elements of Figure 2.
  • Figure 4A is a front, top, right side perspective view of the cable angular displacement sensor including a biased main gimbal in the form of a plate gimbal.
  • Figure 4B is a back, bottom, left side perspective view of the cable angular displacement sensor of Figure 4A.
  • Figure 5 is a front elevation view of the main angular displacement gimbal of Figure 4A and Figure 4B.
  • Figure 6 is an enlarged front elevation view of the plate gimbal of Figure 5.
  • Figure 7 is an enlarged front, top, right side, perspective of the cable passage assembly of Figures 4 and 5.
  • Figure 8 is an enlarged cross sectional view of the main gimbal thrust bearing assembly.
  • Figure 9 is a perspective schematic of a second embodiment of the cable angular displacement sensor in the form of contact sensors.
  • Figure 10 is a perspective schematic of a third embodiment of the cable angular displacement sensor in the form of optical sensors.
  • Figure 1 1 is a perspective schematic of a fourth embodiment of the cable angular displacement sensor in the form of a magnetic or electromagnetic sensor.
  • Figure 12 is a perspective view of a fifth embodiment of the cable angular displacement sensor in the form of a moment sensor.
  • Figure 13 is a flow chart for measuring a surface.
  • Figure 14 is bottom, front, left side; partially cut away, perspective view similar to Figure 3 of selective elements of an alternative embodiment of the measuring device including only one carriage.
  • Figure 15 is bottom, front, left side, partially cut away perspective view of an alternate embodiment of the device of figure 14.
  • Figure 16 is perspective diagram showing a device 10 measuring to create a design.
  • Figure 17 is a perspective view of device 10 positioning an acquired design on a workpiece.
  • Figure 18 is an enlarged perspective view of an alternate cable grip 18 incorporating a user interface and cable direction display.
  • Figure 19 is a diagram of a cable free end positioning function.
  • Figure 20 is a perspective view of a grip user using the device for measuring a wall structure.
  • Figure 21 is a perspective view showing cable measuring of an electrical outlet box.
  • Figure 22 is a perspective view of a user marking the design of the wall structure on a wallboard.
  • Figure 1 a perspective view of a room 800 showing a use of a first embodiment 1OA of the cable measuring and cable positioning or laser projecting device 10 of the invention.
  • a user 90 uses device 10 to obtain numerical coordinates, such as polar coordinates, of a plurality of points in room 800.
  • device 10 can define all of the desired surfaces 805 in three-space for purposes of determining the amount or size of flooring, paint, wall coverings, windows, counter tops, cabinets and other features.
  • Device 10 may be used in a factory to measure the three-dimensional location of piping, or machinery details, or other generally difficult-to-measure objects.
  • Surfaces 805 of room 800 include a floor 810, back wall 815, and side wall 820.
  • a hutch 830 abuts side wall 820.
  • Surfaces 805 of hutch 830 include a right side wall 835, a left side wall 840, a top surface 845, an upper front wall 850, a lower surface 855, and a lower front wall 860.
  • Device 10 generally includes a retractable cable 12 having a midsection 16 and a free end 14; a base unit 20 supporting devices for tracking movement of cable 12 and for measuring the length and direction of cable 12, a computer 700, such as a personal digital assistant (PDA) 701 held by a user 90, and a user interface 704 to computer 700 such as an entry pad 704A on PDA 701 or key pad 704B on base unit 20.
  • a computer 700 such as a personal digital assistant (PDA) 701 held by a user 90, and a user interface 704 to computer 700 such as an entry pad 704A on PDA 701 or key pad 704B on base unit 20.
  • PDA personal digital assistant
  • Housing 102 is protective against dirt and damage and defines an orifice 103 for passage of cable 12. As will be explained in greater detail later, housing 102 rotates to follow cable 12 as cable 12 is moved.
  • Base unit 20 is adapted to be firmly supported by a surface.
  • Framework 25 of base unit 20 is firmly supported by a support 40, such as a floor plate placed on the floor or, such as shown in the exemplary embodiment, on a first tripod 4OF placed on floor 810.
  • base unit 20 is selectively attachable to support 40 for purposes as will be explained.
  • a user 90 such as grip user 9OG, grips a grip 18 attached to cable free end 14 and places free end 14 on a point, such as point A on side wall 820, the location of which is to be measured by device 10.
  • Grip 18 is attached to cable 12 in a manner so as to not introduce a moment to cable 12 so as to keep cable 12 linear.
  • the distance to point A and the direction to point A are measured by measuring devices in housing 102.
  • One or more computers 700 are used for data input, storage, and processing.
  • grip user 9OG uses a hand held computer 700, such as a personal digital assistant (PDA) 701.
  • PDA 701 contains a program adapted for receiving and processing data input.
  • a computer program for performing the functions described herein is readily commercially available or can be written by a programmer reasonably skilled in the art or an existing program can be readily adapted to the specifics of device 10 by a programmer reasonably skilled in the art.
  • a computer 700 may be located in base unit 20 or be a separate unit.
  • grip user 9OG enters input on entry pad
  • PDA 701 and base unit 20 have wireless connectivity, such as radio, such as Bluetooth ® , and PDA 701 receives the cable measurements from base unit 20.
  • Other wireless connectivity such as IrDA (infrared), sound, or Wi- Fi could be used.
  • IrDA infrared
  • sound or Wi- Fi
  • Other input and connectivity methods could be used.
  • a separate cable could be used.
  • Input could be transmitted via measuring cable 12.
  • Data connectivity between computer 700, measuring devices, and grip user 9OG allows just one person to be able to operate device 10 and measure room 800.
  • a second user could communicate with computer 700 in one of the above-described manners or furnish input via port 706 or on entry or key pad 704B on base unit 20.
  • FIG. 13 there is shown a flow chart for taking measurement.
  • a user inputs a surface identifier to identify the surface being measured for associating the measured points with.
  • the user presses a "record” button. The measurements are recorded. If more points must be input to reconstruct the surface, then cable free end 14 is moved and additional points are recorded to memory for that surface. If not, then a new surface identifier is entered and points on that surface are measured.
  • user 90 places first tripod 4OF firmly on floor 810 and attaches framework 25.
  • the program in PDA 701 is activated for receiving data.
  • Grip user 9OG enters an identifier for a surface 805, such as side wall 820, to be measured.
  • Grip user 9OG enters an identifier for type of surface, for example "planar" for side wall surface 820, places cable free end 14 on a point, such as point A, on side wall 820, and presses a record button on PDA 701.
  • the location of point A is dete ⁇ nined by base unit 20 and is transmitted to PDA 701. This procedure is repeated with points B and C.
  • PDA 701 now has in memory three points A, B, C that define a plane, of which side wall surface 820 is a part. The same procedure is used for other surfaces 805. Additional points on any surface 805 may be measured.
  • the gathered data can be processed by computer 700 or sent, such as via port 706 or radio, such as with Bluetooth ® , to another computer for processing.
  • imaging software such as computer aided design (CAD) software reconstructs surfaces 820.
  • CAD computer aided design
  • Such software is well known in the art.
  • An example is Geomagic Studio from Geomagic, Inc.
  • Another software package for processing point data into three dimensions is RapidFormXOR from INUS Technology, Inc. and Rapidform, Inc.
  • identifiers for type of surface are used for more complex surfaces.
  • a surface identifier such as “smooth curve”
  • the computer program could "fair” the associated measured points to arrive at the surface configuration.
  • one or more sub-designations may be used. For example, “edge” or “terminus” is used for designating an edge point or corner point on a surface respectively.
  • a large number of points are measured or a "scan" sub-designation is entered and cable free end 14 is drawn along the surface and points are measured repeatedly
  • each tripod 40 includes a reference point, such as point F, S or T, the location of which, relative to an attached base unit 20, is known.
  • the location of reference point S on second tripod 40S is measured by device 10 to establish the spatial location of second tripod 4OS relative to first tripod 4OF.
  • Base unit 20 is detached from first tripod 4OF and attached to second tripod 4OS.
  • the reference point F on first tripod 4OF is measured by base unit 20 on second tripod 4OS to establish the angular orientation of base unit 20 on second tripod 40S relative to first tripod 40F. Points are measured from base unit 20 on second tripod 4OS.
  • This tripod jumping pattern can be repeated to measure any surfaces 805.
  • first tripod 4OF, or another tripod 4OT is moved to a suitable location for measuring the points. Its reference point F at the new location is measured, base unit 20 is detached from second tripod 4OS and attached to the moved first tripod 4OF, and reference point S of second tripod 4OS is measured to establish the relative position of the new location.
  • a surface 805 is placed, as described above, in a position to both measure the additional surface 805 and to measure a plurality of points on already known surfaces 805.
  • a "re-orientation" entry directs computer 700 to use the next measured points from known surfaces 805 to determine the location and orientation of base unit 20 by triangulation. The additional points or surface 805 can then be measured and added to the previously measured data.
  • FIG 2 is a top, front, right side, partly cut away, perspective view of selected elements of the base unit 20 of device 10.
  • Figure 3 is a bottom, front, left side, perspective view of selected elements of Figure 2.
  • a cable 12 includes a free end 14, a supply end 13, and a midsection 16 therebetween.
  • Free end 14 is for placement on a point, the location of which is to be measured, such as point A on Fig. 1.
  • a grip 18 attached to free end 14 of cable 12 is used, such as by gripping by user 9OG, for positioning free end 14 at a point to be measured.
  • Base Unit 20 includes measuring means coupled to cable 12 for measuring direction and distance to each point and for producing measurement signals indicative.
  • Base unit 20 generally includes framework 25 for attachment to floor support 40, a base 30 attached to framework 25, a turn carriage 100 rotationally mounted on base 30, and a pitch carriage 200 rotationally mounted on turn carriage 100.
  • Framework 25 includes means, such as a plurality of cooperative connectors 26 for cooperating with support 40 for selectively attaching framework 25 to support 40.
  • Base 30 includes a ring 31 attached to and supported by framework 25.
  • Ring 31 has a circular inner face 32 and a circular outer face 33.
  • Turn carriage 100 includes a plurality of components attached to a turn- carriage frame 101.
  • frame 101 is only partially shown for clarity.
  • Turn carriage 100 includes means 1 10, such as a plurality of wheels 1 1 1 , for rotationally mounting turn carriage 100 on base 30. Wheels 1 1 1 including drive wheel 1 1 ID, are mounted on frame 101 and rotationally mount turn carriage 100 on inner face 32 of ring 31 of base 30.
  • Turn carriage 100 is rotationally attached to base 30 so as to be rotatable about a yaw axis, such as first axis or turn axis ⁇ (theta).
  • Turn axis ⁇ is typically perpendicular to the floor or other support 40 for base unit 20.
  • turn axis ⁇ typically is vertical or substantially vertical.
  • Turn carriage 100 can rotate left or right and any number of degrees to align cable 12 in any direction.
  • Base unit 20 includes power means 190, such as a battery 191 for powering components.
  • Battery 191 is attached to base unit 20, such as to turn- carriage frame 101. Power is distributed from battery 191 to the components by any desirable means, such as power lines, not shown.
  • Pitch-carriage mounting means such as a pair of spaced bearings 135 are attached to frame 101 for rotational mounting of pitch carriage 200.
  • Pitch carriage 200 includes a plurality of components attached to pitch- carriage frame 201.
  • frame 201 is only partially shown for clarity.
  • Pitch carriage 200 is rotationally attached to turn carriage 100, such as by shafts 202 attached to frame 201 and journaled in bearings 135, so as to be rotatable about a second or pitch axis ⁇ (phi) defined by bearings 135.
  • pitch carriage 200 may pitch down at an angle of about 35° and rotate upward from there through an angle of about 92° for 127° total motion.
  • a main datum passage 230 is attached to frame 201 and defines an inner, confined passage relative to frame 201 for midsection 16 of cable 12.
  • a main datum passage device attached to pitch carriage frame 201 such as pulley 231 rotationally attached to pitch carriage frame 201 , provides main datum passage 230.
  • Main datum passage 230 is where incoming cable 12 first touches main datum pulley 231 when received from an outer confined incoming datum passage 339, as will be subsequently described.
  • Main datum passage 230 provides the first pivot point that is fixed relative to frame 201 for incoming cable 12.
  • Other embodiments of main datum passage 230 could include a ring orifice or the entrance to a tube or similar opening for confined passage of cable 12.
  • second axis ⁇ is perpendicular to and intersects turn axis ⁇ .
  • Main datum passage 230 is located at, or near, this intersection. Consequently, the relative polar coordinates p, ⁇ , ⁇ of cable end 14 may be rather straightforwardly produced from main datum passage 230.
  • other relative axes may be used and the measurements to the point may then be mathematically transformed as is well known in the art, into any desired coordinate system.
  • a cable supply means 600 is attached to frame 201 and supplies cable 12 from supply end 13 under a predetermined tension to main datum passage 230.
  • cable supply means 600 includes a drum or reel 660, upon which cable 12 is wound and a cable tensioning means 605 including a cable tension sensor 610 for sensing the tension in cable 12 supplied to main datum passage 230, and a reel servoed motor 650 coupled to reel 660 such as by belt 655 for rotating reel 660.
  • Reel mounting means such as a plurality of rollers 670, is mounted to pitch frame 201 for supporting reel 660 such that it may rotate for storage or release of cable 12.
  • cable tension sensor 610 includes a sensor and a roller pulley 61 1 that is spring biased to push against cable 12 between other cable supports. Sensor 610 senses the location of pulley 61 1 and produces a signal representative thereof. Responsive to the signal from tension sensor 610, reel servoed motor 650 rotates reel 660 to maintain the predetermined tension.
  • computer 700 receives the signal from tension sensor 610 and directs reel servoed motor 650 to maintain a desired tension. In this manner, the desired tension may easily be changed in computer 700 by a user
  • cable tension sensing means well-known in the art could be used, such as a load cell to measure load on pulley 61 1.
  • Cable positioning means 620 attached to frame 201 includes a plurality of pulleys 622 feeding cable 12 to or receiving cable 12 from a final positioning pulley 623.
  • Final positioning pulley 623 is mounted on a shaft 630 attached to frame 201 so as to slide axially along shaft 630 and feed cable 12 to reel 660 such that cable 12 does not overlap on reel 660.
  • Cable length measuring means 450 is attached to frame 201 and is coupled to cable 12 for measuring the length p (rho) or change of length of cable 12 as free end 14 is moved and placed on a point. Cable length measuring means 450 produces a signal, such as on line 460, indicative of the length p (rho) or change of length of cable 12. Cable length measuring means of various configurations are well known in the art. In the illustrative embodiment, cable 12 is partially wrapped around a pulley 455 such that movement of cable 12 rotates pulley 455. A sensor 457, as is well known in the art, such as an optical encoder, translates amount of rotation of pulley 455 to change in cable length and produces a signal indicative thereof.
  • Pitch carriage 200 includes an angular displacement sensor assembly 300 attached to frame 201 including an incoming confined cable passage 339 for cable 12 between main datum passage 230 and cable free end 14.
  • Cable 12 is in alignment position when the local longitudinal axis 17 of cable 12 at incoming confined cable passage 339 is aligned with main datum passage 230.
  • cable midsection 16 is displaced angularly in angular displacement sensor assembly 300.
  • Angular displacement sensor assembly 300 detects this angular displacement of cable 12 away from alignment position 305 and produces a signal or signals indicative thereof, such as on lines 308 and 309. Angular displacement sensor assembly 300 will be discussed in greater detail later herein.
  • Turn servoed motor assembly 120 rotates turn carriage 100 about turn axis ⁇ responsive to the signal from angular displacement sensor assembly 300 indicative of cable displacement about turn axis ( ⁇ ) so as to move angular displacement sensor assembly 300 toward alignment position 305.
  • turn servoed motor assembly 120 includes a turn servoed motor 122 mounted on turn carriage 100 and a first drive mechanism 125 including a belt 126 connected to first drive wheel 127 connected to drive wheel 1 1 ID interacting with inner face 32 of ring 31 of base 30 for rotating turn carriage 100 relative to base 30 and about turn axis ⁇ .
  • the term "servoed motor” may apply to any kind of applicable motor actuator such as a servo motor, a stepper motor, or a hydraulic motor for example.
  • Pitch servoed motor assembly 160 couples pitch carriage 200 to turn carriage 100 for rotating pitch carriage 200 in bearings 135 about pitch axis ⁇ responsive to the signal from angular displacement sensor assembly 300 indicative of cable 12 movement about pitch axis ⁇ so as to move angular displacement sensor assembly 300 toward alignment position 305.
  • pitch servoed motor assembly 160 includes a pitch servoed motor 162 mounted on frame 101 and a pitch drive mechanism 165 including a belt 166 connecting first drive wheel 167 with second drive wheel 168 connected to journal shaft 202 of pitch carriage 200 for rotating pitch carriage 200 in bearings 135.
  • a turn-carriage measuring means 500 measures the rotational position or change of rotational position of turn carriage 100 relative to base 30 and produces a signal, such as on line 510, indicative thereof. Many such measuring means are well-known in the art.
  • an optical encoder 520 includes an optical reader 522 mounted on turn carriage 100 for reading an encoder strip 525 on base 30. When cable 12 is measuring a point, turn carriage measuring means 500 measures the direction of cable 12 about turn axis ⁇ .
  • a pitch-carriage measuring means 550 measures the rotational position or change of rotational position of pitch carriage 200 relative to turn carriage 100 and produces a signal indicative thereof.
  • pitch carriage measuring means 500 measures the direction of cable 12 about pitch axis ⁇ .
  • pitch-carriage measuring means 550 includes an optical encoder 570 including an optical reader 572 mounted on pitch carriage 200 for reading an encoder strip 575 on arc 140 of turn carriage 100 and for producing a signal indicative of the pitch on signal line 560.
  • turn and pitch carriages 100, 200 rotate so as to follow the movement of free end 14 of cable 12 to a new measured point or between an old measured point and a new point until cable midsection 16 is once again in alignment position 305 in angular displacement sensor assembly 300.
  • the position of the new point or the change in position of the new point relative to the old point can be determined, such as by computer 700 in response to the signals on lines 460, 510, 560 from measuring means 450, 500, and 550.
  • the measured point's location may be determined from the signals on
  • computer 700 interprets the signals on lines 460, 510, and 560 as representing the p, ⁇ , and ⁇ components of a point P (not shown) in a polar coordinate system. Because the force of gravity tends to displace the cable midsection 16 downward along a catenary curve, the measured location of cable free end 14 is not coincident with point P, but contains an offset dependent on the cable's extended length, the cable's orientation relative to the force of gravity, the cable's density per unit length, and the cable's tension.
  • Computer 700 determines the offset from these known parameters using mathematical means well-known in the art to determine the measured location of cable free end 14 relative to point P.
  • an accelerometer or other level sensor may be mounted in base unit 20, such as to pitch carriage 200, for the purpose of determining the cable's precise orientation relative to the force of gravity.
  • the location signals on distance signal line 460, rotation signal line 510, and pitch signal line 560 are stored in connection with the measured point. This can be done in any desirable manner, such as in a local computer in base unit 20, not shown, or, as in the illustrative example, transmitted, such as by Bluetooth ® , to PDA 701.
  • Signal communication within base unit 30 may be performed in any desirable manner.
  • the exemplary configuration uses wires. Wires are easily used for connectivity because the only relative movement between sending elements and receiving elements is the change in pitch angle ⁇ .
  • FIGS 4-8 are views of an illustrative embodiment of an angular displacement sensor assembly 300, such as gimbaled angular displacement sensor assembly 300G, including a biased main gimbal 310 in the form of a plate gimbal.
  • Angular displacement sensor assembly 300 is attached to second frame 201 and includes a confined incoming datum passage between main datum passage 230 and cable free end 14 wherein cable 12 is in alignment position 305 when the local longitudinal axis 17 of cable 12 is aligned with datum passage 230.
  • Angular displacement sensor assembly 300 senses the angular displacement of cable 12 away from alignment position 305 and produces a displacement signal, such as on lines 308, 309 indicative thereof.
  • the displacement signal instructs turn servo motor 122 and/or pitch servo motor 162 to move turn carriage 100 and/or pitch carriage 200 such that cable 12 is returned to cable alignment position 305.
  • Figure 4A is a front, top, right side perspective view of the cable angular displacement sensor assembly 300G including a biased main gimbal 310 in the form of a plate gimbal attached to a portion of pitch-carriage frame 201.
  • Figure 4B is a back, bottom, left side perspective view of the cable angular displacement sensor assembly 300G of Figure 4A.
  • Figure 5 is a front elevation view of the angular displacement sensor assembly 300G of Figure 4A.
  • Figure 6 is an enlarged front elevation view of main gimbal 310 of Figure 4A and 4B.
  • Figure 7 is an enlarged front, top, right-side perspective view of the cable passage assembly 330 of Figures 4A, 4B and 5.
  • Figure 8 is an enlarged cross sectional view of main gimbal thrust bearing assembly 370 and biasing assembly 375 of Figure 5.
  • Main gimbal 310 is a planar, two axis biased gimbal comprising an outer gimbal 312 and an inner gimbal 320.
  • Outer gimbal 312 includes an outer gimbal ring 313 supported by the inner ends 316 of a pair of outer torsion members 315 on a first gimbal axis 314.
  • ring is used due to gimbal tradition, but this element may be any functional shape.
  • Inner gimbal 320 includes an inner gimbal ring 321 supported by the inner ends 326 of a pair of inner torsion members 325 on a second gimbal axis 324. Inner torsion members 325 are supported at their outer ends 327 by outer gimbal ring 313. Outer gimbal ring 313 is free to rotate about first gimbal axis 314. Inner gimbal ring 321 is free to rotate about second gimbal axis 324 relative to outer gimbal ring 313 and, thus, may rotate in any direction.
  • Main gimbal 310 is a biased gimbal, in that gimbal rings 313, 321 are biased to rotate to a neutral position when rotational forces are removed.
  • the neutral bias is provided by paired torsion members 315, 325.
  • angular displacement sensor assembly 300G the other main components of angular displacement sensor assembly 300G are a cable passage assembly 330, a gimbal thrust bearing assembly 370, a biasing assembly 375, a first angular displacement sensor 400, and a second angular displacement sensor 420.
  • FIG 7 is an enlarged front, top, right side, perspective of the cable passage assembly 330 of Figures 4 and 5.
  • Cable passage assembly 330 is mounted on sensor arm plate 321 S of inner ring 321 (not seen) of main gimbal 310 and rotates inner ring 321 responsive to angular displacement of cable 12 from cable alignment position 305.
  • An arm 360 such as thin tube 361, has an inner end 362 connected to inner gimbal ring 321 and an outer end 363 including a bracket 364, best seen in Figure 4B.
  • Anti-moment gimbal 340 such as a plate gimbal, is mounted on bracket 364.
  • Anti-moment gimbal 340 is a planar, two axis biased gimbal similar to main gimbal 310 and comprises an outer gimbal 342 and an inner gimbal 350.
  • outer gimbal 342 includes an outer gimbal ring 343 supported by the inner ends 346 of a pair of outer torsion members 345 on a first gimbal axis 344.
  • Outer torsion members 345 are supported at their outer ends 347 by bracket 364.
  • Inner gimbal 350 includes an inner gimbal ring 352 supported by the inner ends 356 of a pair of inner torsion members 355 on a second gimbal axis 354.
  • ring is used due to gimbal tradition, but this element may be any functional shape.
  • Inner torsion members 355 are supported at their outer ends 357 by outer gimbal ring 343.
  • Outer gimbal ring 343 may rotate about first gimbal axis 344.
  • Inner gimbal ring 352 may rotate about second gimbal axis 354 relative to outer gimbal ring 343 and, thus, may rotate in any direction.
  • Passage members 331 are mounted on inner ring 352 of anti-moment gimbal 340.
  • Pulley 333 is mounted on a swinging yoke 334 and biased toward the cable confining position by a spring 335. This biasing allows pulley 333 to move slightly to allow for passage of protuberances on cable 12.
  • a second pulley could be used, or a plurality of rollers could be used.
  • Anti-moment gimbal 340 decouples sensor assembly 300G from applying any moment to cable 12 in confined cable passage 339. Anti-moment gimbal 340 may not be necessary for all types of cable 12. As seen in Figure 7, a counter mass 368 may be attached to the back side of inner gimbal ring 321 to counter the mass of arm 360 and cable passage assembly 330 so as to balance main gimbal 310 to a more planar neutral position.
  • cable 12 is in the alignment position 305 when local longitudinal axis 17 of cable 12 in confined passage 339 is aligned with main datum passage 230 and main gimbal 310 and anti-moment gimbal 340 are in the neutral position.
  • the measurement of a point may be taken. Cable free end 14 is then moved to a new point for measurement. If cable midsection 16 is displaced angularly during movement to the new point, midsection 16 exerts a side force against outer cable passage members 331 which, through arm 360, exert a moment on inner gimbal ring 321 of main gimbal 310 so as to rotate it.
  • FIG 8 is an enlarged cross sectional view of gimbal thrust bearing assembly 370.
  • Thrust bearing assembly 370 provides a front-to-back pivot point for inner gimbal ring 321 and also may bias or pre-load inner gimbal ring 321 to a position out of the planar position.
  • a pivot rod 371 includes a front end 372 and a back end 373.
  • Inner gimbal ring 321 includes a bearing plate 321 B attached to the front of inner gimbal ring 321.
  • Bearing plate 32 I B includes a rear facing pivot seat 322 and a front facing pivot seat 323.
  • pivot rod front end 372 of pivot rod 371 and rear facing pivot seat 322 are adapted such that bearing plate 321 B, and hence inner gimbal ring 321, pivots on front end 372.
  • pivot rod back end 373 and pitch frame 201 are adapted such that pivot rod back end 373 pivots on pitch carriage 200.
  • pivot rod front end 372 is curved, such as being hemispherical.
  • bearing plate 321 B and sensor arm plate 321 S mounted on or integral with inner gimbal ring 321 and moving therewith.
  • Bearing plate 32 IB includes a concave conical pivot seat 322 for receiving front end 372 in a pivoting relationship.
  • Pitch frame 201 includes a set screw 203 adjustably threadably engaged in threaded bore 209.
  • Set screw 203 includes a front-facing, concave, conical pivot seat 203a for receiving pivot rod back end 373.
  • Pivot rod back end 373 is curved, such as being hemispherical, for pivoting in seat 203a.
  • pivot rod 371 pivots on both ends 372, 373 such that it only can apply an axial force and, other than its own weight, pivot rod 371 cannot apply a side load or moment to main gimbal 310.
  • Pivot rod 371 cannot carry any of the weight of main gimbal 310 or its attachments including anti-moment gimbal 340.
  • set screw 203 is adjusted so that inner gimbal ring 321 is out of planar with the remainder of main gimbal 310.
  • Means such as a biasing assembly 375, may be used to further assure that inner gimbal ring 321 is positioned at a particular front-to-rear position against pivot rod 371.
  • a compression member such as spring 376, bears against pitch frame 201 and inner gimbal ring 321 to bias inner gimbal ring 321 against pivot rod 371.
  • Spring 376 includes a front end 377 and a back end 378.
  • Pitch frame 201 includes means, such as a set screw 205 adjustably threadably engaged in threaded bore 204, for bearing on spring front end 377 for adjusting the compression biasing of spring 376.
  • Spring back end 378 bears on inner gimbal ring 321, such on bearing plate 32 IB, such as on front seat 323 thereon.
  • Spring 376 and inner gimbal ring 321 may be adapted (not shown), such as with a hemispherical cap on spring 376 and a concave conical seat on inner gimbal ring 321 for receiving the cap, such that spring 376 pivotly bears against inner gimbal ring 321 so as to impart no moment to inner gimbal ring 321.
  • thrust bearing assembly 370 can be easily modified to operate in the reverse manner with pivot rod 371 in front of inner gimbal ring 321.
  • first angular displacement sensor 400 the movement about a first sensor axis 401 of inner gimbal ring 321 caused by angular displacement of cable 12 is sensed by first angular displacement sensor 400.
  • second angular displacement sensor 420 the movement of inner gimbal ring 321 about a second sensor axis 421 caused by angular displacement of cable 12 is sensed by second angular displacement sensor 420.
  • first and second angular displacement sensors 400, 420 are optical encoders as are well known in the art.
  • First sensor 400 includes a moving portion 405, which rotates with inner gimbal ring 321, and a fixed portion 415 attached to pitch carriage 200.
  • Moving portion 405 includes a radial arm 406 having an inner end 407 connected to sensor arm plate 32 I S of inner gimbal ring 321 and an outer end 408 having an encoder strip 409 thereon.
  • Arm 406 rotates with inner gimbal ring 321 about first sensor axis 401.
  • Fixed portion 415 includes an encoder read head 416 attached to pitch carriage 200 for reading encoder strip 409. Read head 416 outputs a signal, such as on line 308, indicative of rotation of inner gimbal ring 321 about first sensor axis 401.
  • Second sensor 420 includes a moving portion 425, which rotates with inner gimbal ring 321, and a fixed portion 435 attached to pitch carriage 200.
  • Moving portion 425 includes a radial arm 426 having an inner end 427 connected to sensor arm plate 321 S of inner gimbal ring 321 and an outer end 428 having an encoder strip 429 thereon.
  • Arm 426 rotates with inner gimbal ring 321 about second sensor axis 421.
  • Fixed portion 435 includes an encoder read head 436 attached to pitch carriage 200 for reading encoder strip 429. Read head 436 outputs a signal, such as on line 309, indicative of rotation of inner gimbal ring 321 about the second sensor axis 421.
  • first sensor axis 401 corresponds to turn axis ⁇ and second sensor axis 421 corresponds to second axis ⁇ such that the signal from first sensor 400 may directly be used to control turn servoed motor 122 to rotate turn carriage 100 toward cable alignment position 305 and the signal from second sensor 420 may directly be used to control pitch servoed motor 162 to rotate pitch carriage 200 toward the cable alignment position 305.
  • first and second sensor axes 401, 421 do not correspond to turn axis ⁇ and second axis ⁇ , then the output signals from sensors 400, 420 are transposed by means well known in the art into corresponding turn axis ⁇ and second axis ⁇ rotations before being used to command servoed motors 122, 162 for rotation of turn and pitch carriages 100, 200 toward cable alignment position 305 wherein a measurement of a point may be taken.
  • flexible anti-dust bag such at flexible anti-dust bag 419, shown in cross-section, covering first displacement sensor 400, may be used to surround sensors to protect them from dust and dirt.
  • Figure 9 is a perspective schematic of a second embodiment of the cable angular displacement sensor assembly 300 including proximity or contact sensors, such as contact sensors 380 mounted to frame 201.
  • Incoming midsection 16 of cable 12 is shown in alignment position 305 wherein the local longitudinal axis 17 of cable 12 in confined incoming datum passage 339 is aligned with main datum passage 230.
  • a first pair 380A of contact sensors 381A, 381 B, attached to frame 201 is equally spaced on opposite sides of cable 12 for detecting angular displacement of cable 12 about a first contact sensor axis perpendicular to a midline between first sensors 380A.
  • a second pair 380B of contact sensors 381C, 381 D, attached to frame 201 is equally spaced on opposite sides of cable 12 for detecting angular displacement of cable 12 about a second contact sensor axis perpendicular to a midline between second sensors 380B. If cable 12 is angularly displaced so as to touch sensor 381A, sensor 381 A produces a signal on line 308Cl indicating rotation is required about the first contact sensor axis in a first direction.
  • sensor 381B If cable 12 touches sensor 381 B, sensor 381B produces a signal on line 308C2 indicating rotation is required about the first contact sensor axis in the opposite direction. If cable 12 is angularly displaced so as to touch sensor 381 C, sensor 381C produces a signal on line 309Cl indicating rotation is required about the second contact sensor axis in a first direction. If cable 12 touches sensor 38 I D, sensor 38 I D produces a signal on line 309C2 indicating rotation is required about the second contact sensor axis in the opposite direction.
  • the signals on lines 308Cl, 308C2, 309Cl and 309C2 may directly control turn servoed motor 122 or pitch servoed motor 162 or may be transposed by means well known in the art into corresponding turn axis ⁇ and second axis ⁇ rotations before being used to command servoed motors 122, 162 for rotation of turn carriage 100 and pitch carriage 200 toward cable alignment position 305 wherein a measurement of a point may be taken.
  • contact sensors 380 are dithered about the sensor axes so that cable 12 is centered in the alignment position 305 before taking a measurement.
  • Servoed motors 122, 162 are controlled to dither contact sensors 380.
  • FIG 10 is a perspective schematic of a third embodiment of the cable angular displacement sensor assembly 300, including optical sensors 385 mounted to frame 201 for detecting movement of cable 12 from alignment position 305.
  • Cable 12 is shown in alignment position 305 wherein the local longitudinal axis 17 of cable 12 in confined incoming datum passage 339 is aligned with main datum passage 230.
  • each optical sensor 385 includes a light source 386, some focusing lenses 387, and a light sensor 388.
  • a pitch optical sensor 385A includes light source 386A that emits light and is disposed on one side of cable 12 and a light sensor 388A for receiving the emitted light is disposed on the other side of cable 12.
  • Light sensor 388A may include a CCD array 389A or other light detector as is well known.
  • One or more lenses, such as lenses 387, may be used to focus or magnify the light for accurate reading.
  • Sensor 388A detects when the shadow of cable 12 moves up or down and produces a signal, such as on line 309D, indicative thereof for directing pitch servoed motor 162 to move pitch carriage 200 so as to return cable 12 to alignment position 305.
  • a turn optical sensor 385B includes light source 386B that emits light and is disposed on one side of cable 12 and light sensor 388B for receiving the light is disposed on the other side of cable 12.
  • Light sensor 388B may include a CCD array 389B or other light detector as is well known.
  • One or more lenses, such as lenses 387A, mounted to frame 201, may be used to focus or magnify the light for accurate reading.
  • Sensor 388B detects when the shadow of cable 12 moves left or right and produces a signal, such as on line 308D, indicative thereof for directing turn servoed motor 122 to move turn carriage 100 so as to return cable 12 to alignment position 305.
  • the output of optical sensors 385 corresponds directly to movement in ⁇ and ⁇ .
  • other axes may be used and translated into movement in ⁇ and ⁇ .
  • optical sensors such as reflecting light off cable 12 to a light detector.
  • Figure 11 is a perspective schematic of a fourth embodiment of the cable angular displacement sensor assembly 300 including a magnetic or electromagnetic sensor 390.
  • a pitch electromagnetic sensor 390A detects the proximity of cable 12 and, when cable 12 moves up or down, produces a signal, such as on line 309E, indicative thereof for directing pitch servoed motor 162 to move pitch carriage 200 so as to return cable 12 to alignment position 305.
  • a turn optical sensor 390B detects the proximity of cable 12 and, when 12 moves left or right, and produces a signal, such as on line 308E, indicative thereof for directing turn servoed motor 122 to move turn carriage 100 so as to return cable 12 to alignment position 305 wherein the local longitudinal axis 17 of cable 12 in confined incoming datum passage 339 is aligned with main datum passage 230.
  • Magnetic sensors could also be used to detect the proximity of cable.
  • the output of sensors 390 corresponds directly to movement in ⁇ and ⁇ . However, other axes may be used and translated into movement in ⁇ and ⁇ .
  • Figure 12 is a perspective view of a fifth embodiment of the cable angular displacement sensor assembly 300 including a moment sensor 395.
  • Tube 360 from the anti-moment gimbal from the confined cable passage 339 is solidly attached to frame 201.
  • confined passage 339 could be a tube with a close-fitting hole about the outer diameter of cable 12 that the cable 12 passes through, or could be opposing rollers that the cable passes between.
  • Arm 360 produces detectable strain on load cells, such as strain gages 396 and 397 mounted on arm 360. Strain gages 396 and 397 produce strain signals which are processed in a manner well known in the art. Other types of load cells known in the art, such as other strain gage arrangements, piezo-resistive-element load cells, hydraulic load cells, pneumatic load cells and optical load cells, may be used.
  • the strain induced on 360 in the vertical axis is detected by strain gage 396 and produces a signal, such as on line 309F, indicative thereof for directing turn servo motor 162 to move pitch carriage 200 so as to return cable 12 to alignment position 305.
  • strain gage 397 The strain induced on 360 in the horizontal axis is detected by strain gage 397 and produces a signal, such as on lines 308F, indicative thereof for directing turn servo motor 122 to move carriage 200 so as to return cable 12 to alignment position 305 wherein the local longitudinal axis 17 of cable 12 in confined incoming datum passage 339 is aligned with main datum passage 230.
  • moment-load cell well known in the art may be applied to the mount end of thin tube 360 at the interface with 201.
  • Figure 14 is a bottom, front, left side, partially cut away, perspective view of selective elements of a single carriage embodiment 1 OB of device 10 as was shown and described primarily with respect to Figures 2 and 3.
  • Device 1 OB is similar to device 10 in most respects but differs as described below from device 10 in that there is only one carriage, such as turn carriage 200. Many elements that are mounted on pitch carriage 200 in device 10 are instead mounted on turn carriage 100 in device 1OB.
  • device 1 OB includes a first displacement sensor, such as turn sensor 400, and a second angular displacement sensor, such as pitch sensor, 420.
  • a simplified version of device 1OB may omit pitch sensor 420.
  • a light pointer, such as measuring laser pointer 270 producing laser beam 271, is attached to turn frame 201.
  • Device 1OB can measure points in a plane that is close to ring 31 of base
  • Device 1OB can measure these points with precision if the pitch axis sensor range is not exceeded or, otherwise, with sufficient accuracy for many applications.
  • device 1OB can be used to measure flooring, such as tiles.
  • Main datum passage 230, cable supply means 600, cable length measuring means 450, and angular displacement sensor assembly 300 are attached to frame 101.
  • a gimbaled angular displacement sensor 300G is shown, other angular displacement sensors, such as those shown and described herein, could be used.
  • Cable 12 is in alignment position 305 when the local longitudinal axis 17 of cable 12 at outer confined cable passage 339 is aligned with turn axis ( ⁇ ).
  • Angular displacement sensor assembly 300 detects this angular displacement of cable 12 away from alignment position 305 and produces a signal or signals indicative thereof, such as on lines 308 and 309.
  • Turn servoed motor assembly 120 rotates turn carriage 100 about turn axis ⁇ responsive to the signals from angular displacement sensor assembly 300 indicative of cable displacement about turn axis ( ⁇ ) so as to move angular displacement sensor assembly 300 to alignment position 305.
  • the location of the measured point is determined from turn-carriage measuring means 500, cable length measuring means 450, and pitch angle from the signals from angular displacement sensor assembly 300 indicative of pitch angle, such as on line 309.
  • Figure 15 is bottom, front, left side, partially cut away perspective view of an alternate embodiment 1OC of the device 1OB of Figure 14.
  • Device 1OC has a single carriage, that is first or turn carriage l OOC, including a frame 101 rotationally mounted, such as by wheels 1 1 1, on base 30 of base unit 20 so as to rotate about turn axis ⁇ (theta). Most of frame 101 is not shown in Figure 15 for clarity, but can be seen in Figure 3.
  • main datum passage 230 is attached to turn carriage 100 for confined passage of midsection 16 of cable 12.
  • incoming cable passage assembly 330C is attached to turn carriage 100 and includes a pair of incoming cable passage members 331C defining a confined incoming cable passage 339C between main datum passage 230 and cable free end 14 providing passage of midsection 16 of cable 12 constrained tangentially to, i.e.
  • Cable 12 is in an alignment position when local longitudinal axis 17 of cable 17 in incoming datum passage 339C is radially aligned with main datum passage 230.
  • Turn carriage 100 freely rotates about turn axis ⁇ to the alignment position responsive to tangential force of cable 12 on members 331C of incoming cable passage 339C.
  • incoming cable 12 passes over a plurality of pulleys 455, 61 1 , 622, 623 mounted to frame 101 before being fed onto cable storage reel 660 rotatably mounted on frame 101 as seen in Fig. 2.
  • reel servoed motor 650 applies a tension to cable 12 by using belt 655 to rotate reel 660.
  • the amount of electric current on line 651 to reel servoed motor 650 determines the torque of reel servoed motor 650 and, thus, the tension in cable 12.
  • incoming cable passage assembly 33OC includes cable angle measuring means, such as pitch measuring means 580, for measuring the angle or change of angle of cable 12 at incoming cable passage 339C in a plane parallel to turn axis ⁇ and for producing a pitch signal, such as on line 560C, indicative thereof.
  • a light source 582 disposed on one side of cable 12 emits light
  • a light sensor 584 for receiving the emitted light is disposed on the other side of cable 12.
  • Light sensor 584 may include a CCD array or other light detector as is well known.
  • One or more lenses, not shown, may be used to focus or magnify the light for accurate reading.
  • Light sensor 584 detects when the shadow of cable 12 moves up or down and produces a signal, such as on signal line 560C, indicative thereof.
  • optical pitch measuring means 580 is shown with reference to the single carriage positioning device 1 OC, alternate devices, such as those shown in Figures 4a, 10 and 1 1 and adapted for a single axis, could be used.
  • FIG 16 is perspective diagram showing a device 10 measuring the floor 810 of room 800 to create a design 760 (Fig. 17) of floor 810
  • Figure 17 is a perspective view of device 10 positioning a mirror image of the acquired design 760 of floor 810 on the back of a workpiece 750, such as a sheet of carpet material 751 such that carpet can be cut to exactly fit floor 810.
  • base unit 20 is placed on first support 4OF.
  • the user places base unit 20 in input mode, places cable free end 14 along the edge of floor 810 and measures points as described with respect to Figure 1 along the edge of floor 810 to define design 760 of outline of floor 810.
  • An elongate extension grip 18E may be used to place cable end 14 along the floor outline so that the user does not need to bend down or crawl. If a portion of floor 810, such as alcove 81 1, is not in line of sight of device 10 on first support 4OF, then device 10 is moved to second support 4OS that is in line of sight of alcove 81 1 to measure alcove 81 1 as described with respect to Figure 1.
  • Measured design 760 of floor 810 is now in computer 700 and can be used and manipulated as any CAD design. For example, the measured design may be adjusted for shrinkage or stretching of material before being positioned on material 751.
  • base unit 20 is placed in line of sight of workpiece 750 at any position and orientation relative to workpiece 750.
  • the position and orientation can be established by using device 10 to measure known points on workpiece 750 or by using pre-established set positions for workpiece 750 and base unit 20.
  • computer 700 in the output mode with cable 12 in tension, computer 700 always knows the position of cable end 14 on workpiece 750 from the turn carriage signal and the cable length signal and either the pitch signal or the known height of base unit 20 relative to workpiece 750.
  • User uses an input device, such as PDA to select a portion 762 of design 760 to position, such as by marking, on workpiece 750.
  • the user is directed to move cable free end 14 orthogonally to cable 12 toward selected portion 762 of design 760 by cable direction means, such as audio signals or direction indication 720 on the display of the PDA 701 (Fig. 1) or on cable grip 18, as shown in Figure 18.
  • Figure 18 is an enlarged perspective view of an alternate cable grip 18C incorporating a user interface 704C and cable direction indication 720 in communication with computer 700, such as by Bluetooth.
  • Cable direction indication 720 such as LEDs 721, directs the user to move cable free end 14 to the right or to the left, or up or down or in and out.
  • the selected portion 762 of the design may be a single point or may be a larger design element, such as arc 764 or line 765.
  • Computer 700 directs user to move radially in or out until free end 14 is at the distance to selected point. The preferred method of doing this is by changing the tension in cable 12 so as to be discernable to the user.
  • Computer 700 directs reel servoed motor 650 to apply a first tension, such as half a pound, to cable 12 when free end 14 is located less than the distance to selected design portion 762 and a second tension, such as higher tension, such as two pounds, when cable free end 14 is at the selected distance and beyond.
  • the user applies a tension between these two levels, such as one pound. If the cable is too long, the second tension from the motor will exceed the force of the user's hand and pull end 14 inward. If the cable is too short, the force from the user's hand will exceed the first tension and pull end 14 outward.
  • motor 650 servos cable end 14 to a specific length corresponding to a point design 760.
  • FIG 19 is a schematic representation of this portion of the system's operation.
  • the block marked Angle Sensors 730 represents any combination of sensors for determining the pitch and yaw of carriages 100, 200 and, hence, of cable 12, in two dimensions, such as pitch measuring means 580 and first carriage measuring means 500 of Figure 15.
  • a computer 700 such as PDA 701 of Figure 1, receives signals from the angle sensors.
  • Computer 700 also stores a design 760 and a selected portion 762 of the design 760 to be positioned.
  • the portion of the computer's program marked Design Range Check 732 produces a signal for directing the user to move cable free end 14 into the range of angles encompassed by portion 762 of the design to be positioned.
  • the block marked Cable Direction Means 734 represents any indication means used to communicate this direction signal to the user, such as LED's 721 of Figure 18.
  • the portion of the computer's program marked Design Distance Calculator 736 determines the length of cable necessary to place cable free end 14 on design 760 at the current angle.
  • This sub-program produces a length signal 737.
  • a comparator block 738 produces a cable tension signal 739 by comparing this target length signal with the cable's current length signal.
  • Cable tension motor 650 responds to cable tension signal 739 by placing the corresponding tension on the cable.
  • cable length sensor 450 determines the cable's current length signal 460 to complete the feedback loop.
  • a marking device 50 is attached to cable 12 for marking the end of cable 14 on planar surfaces.
  • Marking device 50 includes a sliding surface 52 for sliding over workpiece 750 and marker 55 for marking workpiece 750 at end of cable 14.
  • Marking device 50 as shown, includes a bore therethrough at end of cable 14 position for receiving a marker 55 in the form of a marking pen 56.
  • Other markers 55 may be used as desired.
  • a spring-loaded center punch can be used to mark points for drilling in metal.
  • the user may use interface 704C, such as depressing button 705, to direct computer 700 to continuous position mode in which computer 700 continuously directs user to adjacent points on selected design 760.
  • interface 704C such as depressing button 705
  • the user in continuous position mode, the user maintains the tension at the low/high intersection and moves left or right as directed such that a continuous marked line 766 of design 760 can be drawn.
  • one device 10 may measure room 800 and the measured design may be sent electronically to a carpet seller where a second device 10 positions the design on the carpet where it can be cut and rolled for delivery to room 800.
  • computer 700 responsive to the turn carriage measurement signal on line 510, is programmed to direct the cable direction means to direct the grip user to move cable free end 14 to the selected design portion 762 for marking.
  • turn carriage servoed motor 650 turns turn carriage 100 to track movement of cable 12 responsive to the turn signal from angular displacement sensor 300.
  • Cable direction means may also indicate when cable free end 14 is at selected point 755A or within a predetermined distance therefrom.
  • Computer 700 directs reel servoed motor 650 to adjust cable tension as described above.
  • computer 700 is programmed to direct turn motor 122 to rotate turn carriage 100 to a target position wherein incoming cable passage 339 and main datum passage 230 are radially aligned with the selected portion 762 of design 760, to direct reel servoed motor to adjust cable tension as described above; and, responsive to the displacement signal from angular displacement sensor 400, to direct the cable direction means to direct the grip user to move cable free end 14 to the selected design portion 762 for marking.
  • computer 700 is programmed, responsive to the turn carriage measurement signal on line 510 and pitch carriage measurement signal on line 560, to direct the cable direction means to direct the grip user to move cable free end 14 to the selected design portion 762 for marking.
  • turn carriage servoed motor 650 turns turn carriage 100
  • pitch carriage servoed motor 162 turns pitch carriage 200 to track movement of cable 12 responsive to the turn and pitch signals from angular displacement sensor 300.
  • Cable direction means may also indicate when cable free end 14 is at selected point 755A or within a predetermined distance therefrom.
  • Computer 700 directs reel servoed motor 650 to adjust cable tension as described above.
  • computer 700 is programmed to direct turn servoed motor 122 to rotate turn carriage 100 and pitch servoed motor 162 to rotate pitch carriage 200 to a target position wherein incoming cable passage 339 and main datum passage 230 are aligned with the selected portion 762 of design 760, to direct reel servoed motor to adjust cable tension as described above; and, responsive to the displacement signal from angular displacement sensor 400, to direct the cable direction means to direct the grip user to move cable free end 14 to the selected design portion 762 for marking.
  • Distances longer than the length of cable 12 may be measured by connecting a laser micrometer to the end of cable 12 and holding it, such as by grip 18, such that the emitted laser beam is parallel to cable 12 and the beam lands on the point being measured. The distance indicated by the laser micrometer is added to the cable distance to attain total distance.
  • Another method of measuring points at longer distances is to attach a distance measuring laser to base unit 20.
  • User 90 may be positioned near the point to be measured and use means, such as a PDA with Bluetooth ® to drive the turn and pitch servos to place the laser light on the point and take a measurement.
  • Device 10 can be used to measure artwork or blueprints and then scale up or scale down or even project the measured points on a surface, such as a wall.
  • Cable 12 preferably has a low and known strain. A wire cable of about one sixteenth inch diameter and having a breaking strength of about 300 pounds has been used. Temperature, humidity, and level sensors may be included to improve accuracy.
  • cable 12 is shown and described as a traditional cable having a circular cross section, cable 12 could have a different cross section, such as rectangular tape or polygonal shape.
  • device 10 can be used as both a cable measuring device and as a cable positioning device. Additionally, it can be used as a laser projection device. An ideal application using both input and output functions of device 10 is preparing a panel for attachment to a structure, shown.
  • Figures 20-22 show using device 10 for preparing a panel 780 for fitting to a structure 770.
  • Figure 20 is a perspective view of grip user 9OG using device 10 for measuring a structure 770, such as a frame 771 , such as wall frame 772 to produce a digitized design.
  • Figure 21 is a perspective view showing cable measuring of an electrical outlet box 779 of structure 770.
  • Figure 22 is a perspective view of a user marking the projected digitized design 760W of the wall frame 772 on a workpiece 750, such as panel 780, such as wallboard 781.
  • Wallboard 781 would typically be drywall, sometimes called sheetrock or gypsum board, but it could be paneling, such as of wood or other material, having a surface 782 for fitting to structure 770.
  • wall frame 772 is intended to be a representative example and generally includes a sole plate 773 supported by floor 810, plurality of wall studs 774, including a slanted corner stud 774C, not all numbered, a plurality of cross-members joining studs 774, such as fire blockers 775, a cap plate 776 on top end of studs 774, and frame 777 for window 870, and framing 778 for receiving a switch box.
  • Other members of structure 770 include electrical outlet boxes 779.
  • Device 10 is positioned on tripod 40 such that structure 770 is readily accessible for measuring by grip user 9OG.
  • the process of measuring an item to produce a digitized design has been previously discussed and highlights are reviewed here.
  • grip user 9OG holds grip 18 and places cable free end 14 on a point 755 to be measured, such as on the mid-line of a .stud 774.
  • grip user 9OG enters a sufficient number of selected points 755 into handheld computer 700, such as PDA 701, for computer 700 to produce a digitized design 760 defining structure 770.
  • grip user 9OG could enter all points to which grip user 9OG may fit panel 780.
  • PDA 701 is programmed in the manner of CAD such that grip user 9OG may select that a linear member is being entered and then only needs to enter two or three points to define a stud for example, or indicate that an opening is being entered and then needs to only enter the corner points, for example. Lines upon which to cut may be measured or designated in the digitized design 760.
  • FIG 21 there is shown cable free end 14 measuring structure 770 including an electrical outlet box 779 as part of structure 770, Grip user 9OG (not shown) grips grip 18 and guides cable free end 14 about the periphery and end face of outlet box 779 while inputting points for sufficiently defining outlet box 779.
  • Grip user 9OG grips grip 18 and guides cable free end 14 about the periphery and end face of outlet box 779 while inputting points for sufficiently defining outlet box 779.
  • device 10 is positioned such that laser pointer 270 can project a laser beam 271 on a piece of new wallboard 78 IN.
  • the relative position of new wallboard 78 IN to device 10 must be known for computer 700 to properly direct laser pointer 270.
  • the relative positions may be fixed such as by placing them in a fixture, or the relative positions may be determined by measuring a sufficient number of points of new wallboard 78 IN with computer 700 in a second input mode.
  • the two carriages 100, 200 act as a gimbal.
  • laser pointer 270 is mounted on a gimbal 100, 200 driven by computer controlled servoed motors 122, 162 for projecting the produced design 760W onto a panel 781N.
  • user 90 selects a portion or portions of wall frame design 760W for device 10 to project on new wallboard 78 IN with laser pointer 270.
  • Projected design 760W is acted upon, such as by user 90 using a marker 55 to mark design 760W as it is projected.
  • user 90 is told if currently projected portion is for a specific purpose, such as for fastening to or for being cut, and user 90 may mark that portion appropriately, such as with solid or dashed lines or with different color markers.
  • cut lines are marked with solid lines and center lines for fasteners are marked with dashed lines.
  • cable 12 could be used to position design 760W as described previously, particularly with respect to Figures 16-19 where cable direction means, such as indicator 720, on grip 18 directs grip user 9OG to move cable free end 14 toward the selected portion of design 760W on new wallboard 78 IN, and the cable tensioning motor 650 adjusts the force required to radially move cable free end 14 at the distance to a the point on design 760 W in that direction.
  • cable direction means such as indicator 720
  • New wallboard 78 IN is cut on cut lines to form a finished wallboard and is fitted on wall frame 772 as shown in Figure 22.
  • Fasteners such as nails or screws can be driven through the appropriate design portions to attach finished wallboard 78 IF to wall frame 772.
  • structure 770 could include other features such as wires and pipes that could be included in design 760W, for example, to prevent later driving of fasteners into these items.
  • the present invention provides an extremely convenient, accurate and fast measuring and projecting or positioning device that can be operated by a single user.
  • the work "pitch" is used in a relative sense and not in an absolute, earth-reference sense.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un procédé, qui met en œuvre, d'une part une prise de mesures par câble, et d'autre part un positionnement au moyen d'un câble ou d'un dispositif de projection par laser, ce procédé permettant, d'abord de mesurer une structure de façon à produire un dessin numérisé de la structure, puis et de placer le dessin sur un panneau par projection par pointeur laser ou par positionnement par câble, de façon que le panneau puisse être marqué et découpé pour s'adapter à la structure.
PCT/US2009/006631 2008-06-20 2009-12-18 Procédé de préparation d'un panneau pour l'adapter à une structure WO2010147575A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/737,486 US8220167B2 (en) 2008-06-20 2009-12-18 Method of preparing a panel for fitting to a structure

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
PCT/US2009/003690 WO2009154792A1 (fr) 2008-06-20 2009-06-18 Dispositif de mesure à cordon extensible et procédé
USPCT/US2009/03690 2009-06-18
PCT/US2009/005368 WO2010147571A1 (fr) 2008-06-20 2009-09-29 Dispositif de positionnement avec câble extensible et procédé associé
USPCT/US2009/05368 2009-09-29

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WO2010147575A1 true WO2010147575A1 (fr) 2010-12-23

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PCT/US2009/006631 WO2010147575A1 (fr) 2008-06-20 2009-12-18 Procédé de préparation d'un panneau pour l'adapter à une structure
PCT/US2009/006628 WO2010147574A1 (fr) 2008-06-20 2009-12-18 Procédé de préparation d'une surface pour la pose de carrelage

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DE102011056219A1 (de) * 2011-12-09 2013-06-13 Tyromotion Gmbh Positionssensor, Sensoranordnung und Rehabilitationsgerät
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