WO2013188026A1 - Machines de mesure de coordonnées comportant des accessoires amovibles - Google Patents

Machines de mesure de coordonnées comportant des accessoires amovibles Download PDF

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Publication number
WO2013188026A1
WO2013188026A1 PCT/US2013/040321 US2013040321W WO2013188026A1 WO 2013188026 A1 WO2013188026 A1 WO 2013188026A1 US 2013040321 W US2013040321 W US 2013040321W WO 2013188026 A1 WO2013188026 A1 WO 2013188026A1
Authority
WO
WIPO (PCT)
Prior art keywords
mirror
aacmm
measuring
noncontact
arm
Prior art date
Application number
PCT/US2013/040321
Other languages
English (en)
Inventor
Klaus Kretschmer
Robert E. Bridges
Clark H. Briggs
Original Assignee
Faro Technologies, Inc.
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 US13/493,639 external-priority patent/US8875409B2/en
Application filed by Faro Technologies, Inc. filed Critical Faro Technologies, Inc.
Priority to CN201380030405.3A priority Critical patent/CN104350356A/zh
Priority to DE112013002892.1T priority patent/DE112013002892T5/de
Priority to JP2015516023A priority patent/JP2015522805A/ja
Priority to GB1500230.6A priority patent/GB2517880B/en
Publication of WO2013188026A1 publication Critical patent/WO2013188026A1/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
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • G01B11/007—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines feeler heads therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/58—Wireless transmission of information between a sensor or probe and a control or evaluation unit

Definitions

  • the present disclosure relates to a coordinate measuring machine, and more particularly to a portable articulated arm coordinate measuring machine having a connector on a probe member of the coordinate measuring machine that allows for the coupling of accessory devices which determine distance based in part on the propagation time of the emitted and reflected light beams.
  • Portable articulated arm coordinate measuring machines have found widespread use in the manufacturing or production of parts where there is a need to rapidly and accurately verify the dimensions of the part during various stages of the manufacturing or production (e.g., machining) of the part.
  • Portable AACMMs represent a vast improvement over known stationary or fixed, cost-intensive and relatively difficult to use measurement installations, particularly in the amount of time it takes to perform dimensional measurements of relatively complex parts.
  • a user of a portable AACMM simply guides a probe along the surface of the part or object to be measured. The measurement data are then recorded and provided to the user.
  • the data are provided to the user in visual form, for example, three-dimensional (3-D) form on a computer screen.
  • FIG. 1 An example of a prior art portable articulated arm CMM is disclosed in commonly assigned U.S. Patent No. 5,402,582 ('582).
  • the '582 patent discloses a 3-D measuring system comprised of a manually- operated articulated arm CMM having a support base on one end and a measurement probe at the other end.
  • Commonly assigned U.S. Patent No. 5,611,147 ( ⁇ 47) discloses a similar articulated arm CMM.
  • the articulated arm CMM includes a number of features including an additional rotational axis at the probe member, thereby providing for an arm with either a two-two-two or a two-two- three axis configuration (the latter case being a seven axis arm).
  • Three-dimensional surfaces may be measured using non-contact techniques as well.
  • One type of non-contact device sometimes referred to as a laser line probe, emits a laser light either on a spot, or along a line.
  • a imaging device such as a charge-coupled device (CCD) for example, is positioned adjacent the laser to capture an image of the reflected light from the surface.
  • CCD charge-coupled device
  • the surface of the object being measured causes a diffuse reflection.
  • the image on the sensor will change as the distance between the sensor and the surface changes.
  • triangulation methods may be used to measure points on the surface.
  • a portable articulated arm coordinate measuring machine for measuring three-dimensional coordinates of an object in space.
  • the AACMM includes a base.
  • a manually positionable arm portion having an opposed first end and second end is provided that is rotationally coupled to the base.
  • the arm portion including a plurality of connected arm segments, each arm segment including at least one position transducer for producing a position signal.
  • An electronic circuit is provided which receives the position signal from the at least one position transducer.
  • a probe member is coupled to the first end.
  • a noncontact three-dimensional measuring device is coupled to the probe member, the noncontact three-dimensional measuring device having an electromagnetic radiation transmitter configured to send out at least one measuring beam and a receiver configured to receive at least one reflected beam.
  • the noncontact three-dimensional measuring device having a mirror positioned to reflect both the at least one measuring beam and the at least one reflected beam.
  • the noncontact three-dimensional measuring device further having a controller configured to determine a distance to the object based at least in part on a combined propagation time of the at least one measuring beam and the at least one reflected beams and on the speed of light in air.
  • a processor is electrically coupled to the electronic circuit, the processor configured to determine the three-dimensional coordinates of a point on the object in response to receiving the position signals from the position transducers and in response to receiving the measured distance from the controller.
  • a method of operating a portable articulated arm coordinate measuring machine for measuring three-dimensional coordinates of an object in space includes providing a manually positionable arm portion having an opposed first end and second end, the arm portion including a plurality of connected arm segments, each arm segment including at least one position transducer for producing a position signal.
  • the position signals are received at an electronic circuit from the position transducers.
  • a three-dimensional measurement device is electrically coupled to the electronic circuit, the three-dimensional measurement device having an electromagnetic radiation transmitter, a sensor and a movable first mirror. The first mirror is moved.
  • a measuring beam of electromagnetic radiation is reflected with the first mirror onto the object.
  • a reflected beam of electromagnetic radiation is received with the first mirror and transferring the reflected beam of electromagnetic radiation to the sensor.
  • a distance to the object is determined from the reflected beam of electromagnetic radiation received by the sensor and based at least in part on a combined propagation time of the measuring beam and the reflected beam and on the speed of light in air.
  • the three- dimensional coordinates of a point on the object are determined based at least in part on the determined distance and the position signals.
  • a portable articulated arm coordinate measuring machine for measuring three-dimensional coordinates of an object in space.
  • the AACMM has a base.
  • a manually positionable arm portion having an opposed first end and second end is rotationally coupled to the base.
  • the arm portion including a plurality of connected arm segments, each arm segment including at least one position transducer for producing a position signal.
  • An electronic circuit receives the position signal from the at least one position transducer.
  • a noncontact three-dimensional measuring device is removably coupled to the arm portion, the noncontact three-dimensional measuring device having a light source and an optical receiver and a mirror is arranged to reflect a first light beam emitted from the light source and reflect a second light beam reflected off the object.
  • the noncontact three-dimensional measuring device is configured to determine a distance to the object based at least in part on a combined propagation time of the first light beam and the second light beam and on the speed of light in air.
  • a processor is electrically coupled to the electronic circuit, the processor configured to determine the three-dimensional coordinates of a point on the object in response to receiving the position signals from the position transducers and in response to receiving the measured distance.
  • FIG. 1 including FIGs. 1A and IB, are perspective views of a portable articulated arm coordinate measuring machine (AACMM) having embodiments of various aspects of the present invention therewithin;
  • AACMM portable articulated arm coordinate measuring machine
  • FIG. 2 is a block diagram of electronics utilized as part of the AACMM of FIG. 1 in accordance with an embodiment
  • FIG. 3 is a block diagram describing detailed features of the electronic data processing system of FIG. 2 in accordance with an embodiment
  • FIG. 4 is an isometric view of the probe member of the AACMM of FIG. 1;
  • FIG. 5 is a side view of the probe member of FIG. 4 with the handle being coupled thereto;
  • FIG. 6 is a side view of the probe member of FIG. 4 with the handle attached;
  • FIG. 7 is an enlarged partial side view of the interface portion of the probe member of FIG. 6;
  • FIG. 8 is another enlarged partial side view of the interface portion of the probe member of FIG. 5;
  • FIG. 9 is an isometric view partially in section of the handle of FIG. 4;
  • FIG. 10 is a schematic view of a noncontact distance measurement device attached to the probe member of the AACMM of Figure 1 ;
  • FIG. 11 is a side view of the noncontact distance measurement device of Figure 10 in accordance with an embodiment of the invention.
  • FIG. 12 is an perspective view of the noncontact distance measurement device of Figure 11 ;
  • FIG. 13 is another perspective view of the noncontact distance measurement device of Figure 11 ;
  • FIG. 14 is a schematic view of a noncontact distance measurement device having a galvo mirror arrangement in accordance with an embodiment of the invention.
  • FIG. 15 is a schematic view of a noncontact distance measurement device having a micro-electromechanical system (MEMS) mirror in accordance with an embodiment of the invention.
  • MEMS micro-electromechanical system
  • AACMM Portable articulated arm coordinate measuring machines
  • Embodiments of the present invention provide advantages in allowing an operator to easily and quickly couple accessory devices to a probe member of the AACMM that use projected light to provide for the non-contact measuring a three-dimensional object.
  • Embodiments of the present invention provide further advantages in providing for communicating data representing a distance to an object measured by the accessory.
  • Embodiments of the present invention provide still further advantages in providing power and data communications to a removable accessory without having external connections or wiring.
  • FIGs. 1A and IB illustrate, in perspective, an AACMM 100 according to various embodiments of the present invention, an articulated arm being one type of coordinate measuring machine.
  • the exemplary AACMM 100 may comprise a six or seven axis articulated measurement device having a probe member 401 (FIG. 4) that includes a measurement probe housing 102 coupled to an arm portion 104 of the AACMM 100 at one end.
  • the arm portion 104 comprises a first arm segment 106 coupled to a second arm segment 108 by a first grouping of bearing cartridges 110 (e.g., two bearing cartridges).
  • a second grouping of bearing cartridges 112 couples the second arm segment 108 to the measurement probe housing 102.
  • a third grouping of bearing cartridges 114 couples the first arm segment 106 to a base 116 located at the other end of the arm portion 104 of the AACMM 100.
  • Each grouping of bearing cartridges 110, 112, 114 provides for multiple axes of articulated movement.
  • the probe member 401 may include a measurement probe housing 102 that comprises the shaft of an axis of rotation for the AACMM 100 (e.g., a cartridge containing an encoder system that determines movement of the measurement device, for example a probe 118, in an axis of rotation for the AACMM 100). In this embodiment, the probe member 401 may rotate about an axis extending through the center of measurement probe housing 102.
  • the base 116 is typically affixed to a work surface.
  • Each bearing cartridge within each bearing cartridge grouping 110, 112, 114 typically contains an encoder system (e.g., an optical angular encoder system).
  • the encoder system i.e., transducer
  • the arm segments 106, 108 may be made from a suitably rigid material such as but not limited to a carbon composite material for example.
  • a portable AACMM 100 with six or seven axes of articulated movement provides advantages in allowing the operator to position the probe 118 in a desired location within a 360° area about the base 116 while providing an arm portion 104 that may be easily handled by the operator.
  • an arm portion 104 having two arm segments 106, 108 is for exemplary purposes, and the claimed invention should not be so limited.
  • An AACMM 100 may have any number of arm segments coupled together by bearing cartridges (and, thus, more or less than six or seven axes of articulated movement or degrees of freedom).
  • the probe 118 is detachably mounted to the measurement probe housing 102, which is connected to bearing cartridge grouping 112.
  • a handle 126 is removable with respect to the measurement probe housing 102 by way of, for example, a quick-connect interface.
  • the handle 126 may be replaced with another device configured to provide non-contact distance measurement of an object, thereby providing advantages in allowing the operator to make both contact and non-contact measurements with the same AACMM 100.
  • the probe 118 is a contacting measurement device and is removable.
  • the probe 118 may have different tips 118 that physically contact the object to be measured, including, but not limited to: ball, touch- sensitive, curved and extension type probes.
  • the measurement is performed, for example, by a non-contacting device such as a laser scanner device.
  • the handle 126 is replaced with the laser scanner device using the quick-connect interface.
  • Other types of measurement devices may replace the removable handle 126 to provide additional functionality. Examples of such measurement devices include, but are not limited to, one or more illumination lights, a temperature sensor, a thermal scanner, a bar code scanner, a projector, a paint sprayer, a camera, or the like, for example.
  • the AACMM 100 includes the removable handle 126 that provides advantages in allowing accessories or functionality to be changed without removing the measurement probe housing 102 from the bearing cartridge grouping 112.
  • the removable handle 126 may also include an electrical connector that allows electrical power and data to be exchanged with the handle 126 and the corresponding electronics located in the probe member 401.
  • each grouping of bearing cartridges 110, 112, 114 allow the arm portion 104 of the AACMM 100 to move about multiple axes of rotation.
  • each bearing cartridge grouping 110, 112, 114 includes corresponding encoder systems, such as optical angular encoders for example, that are each arranged coaxially with the corresponding axis of rotation of, e.g., the arm segments 106, 108.
  • the optical encoder system detects rotational (swivel) or transverse (hinge) movement of, e.g., each one of the arm segments 106, 108 about the corresponding axis and transmits a signal to an electronic data processing system within the AACMM 100 as described in more detail herein below.
  • Each individual raw encoder count is sent separately to the electronic data processing system as a signal where it is further processed into measurement data.
  • No position calculator separate from the AACMM 100 itself e.g., a serial box
  • U.S. Patent No. 5,402,582 '582
  • the base 116 may include an attachment device or mounting device 120.
  • the mounting device 120 allows the AACMM 100 to be removably mounted to a desired location, such as an inspection table, a machining center, a wall or the floor for example.
  • the base 116 includes a handle portion 122 that provides a convenient location for the operator to hold the base 116 as the AACMM 100 is being moved.
  • the base 116 further includes a movable cover portion 124 that folds down to reveal a user interface, such as a display screen.
  • the base 116 of the portable AACMM 100 contains or houses an electronic circuit having an electronic data processing system that includes two primary components: a base processing system that processes the data from the various encoder systems within the AACMM 100 as well as data representing other arm parameters to support three-dimensional (3-D) positional calculations; and a user interface processing system that includes an on-board operating system, a touch screen display, and resident application software that allows for relatively complete metrology functions to be implemented within the AACMM 100 without the need for connection to an external computer.
  • a base processing system that processes the data from the various encoder systems within the AACMM 100 as well as data representing other arm parameters to support three-dimensional (3-D) positional calculations
  • a user interface processing system that includes an on-board operating system, a touch screen display, and resident application software that allows for relatively complete metrology functions to be implemented within the AACMM 100 without the need for connection to an external computer.
  • the electronic data processing system in the base 116 may communicate with the encoder systems, sensors, and other peripheral hardware located away from the base 116 (e.g., a noncontact distance measurement device that can be mounted to the removable handle 126 on the AACMM 100).
  • the electronics that support these peripheral hardware devices or features may be located in each of the bearing cartridge groupings 110, 112, 114 located within the portable AACMM 100.
  • FIG. 2 is a block diagram of electronics utilized in an AACMM 100 in accordance with an embodiment.
  • the embodiment shown in FIG. 2A includes an electronic data processing system 210 including a base processor board 204 for implementing the base processing system, a user interface board 202, a base power board 206 for providing power, a Bluetooth module 232, and a base tilt board 208.
  • the user interface board 202 includes a computer processor for executing application software to perform user interface, display, and other functions described herein.
  • each encoder system generates encoder data and includes: an encoder arm bus interface 214, an encoder digital signal processor (DSP) 216, an encoder read head interface 234, and a temperature sensor 212.
  • DSP digital signal processor
  • Other devices such as strain sensors, may be attached to the arm bus 218.
  • probe member electronics 230 that are in communication with the arm bus 218.
  • the probe member electronics 230 include a probe member DSP 228, a temperature sensor 212, a handle/device interface bus 240 that connects with the handle 126 or the noncontact distance measurement device 242 via the quick- connect interface in an embodiment, and a probe interface 226.
  • the quick-connect interface allows access by the handle 126 to the data bus, control lines, and power bus used by the noncontact distance measurement device 242 and other accessories.
  • the probe member electronics 230 are located in the measurement probe housing 102 on the AACMM 100.
  • the handle 126 may be removed from the quick-connect interface and measurement may be performed by the noncontact distance measurement device 242 communicating with the probe member electronics 230 of the AACMM 100 via the interface bus 240.
  • the electronic data processing system 210 is located in the base 116 of the AACMM 100
  • the probe member electronics 230 are located in the measurement probe housing 102 of the AACMM 100
  • the encoder systems are located in the bearing cartridge groupings 110, 112, 114.
  • the probe interface 226 may connect with the probe member DSP 228 by any suitable communications protocol, including commercially- available products from Maxim Integrated Products, Inc. that embody the 1-wire® communications protocol 236.
  • FIG. 3A is a block diagram describing detailed features of the electronic data processing system 210 of the AACMM 100 in accordance with an embodiment.
  • the electronic data processing system 210 is located in the base 116 of the AACMM 100 and includes the base processor board 204, the user interface board 202, a base power board 206, a Bluetooth module 232, and a base tilt module 208.
  • the base processor board 204 includes the various functional blocks illustrated therein.
  • a base processor function 302 is utilized to support the collection of measurement data from the AACMM 100 and receives raw arm data (e.g., encoder system data) via the arm bus 218 and a bus control module function 308.
  • the memory function 304 stores programs and static arm configuration data.
  • the base processor board 204 also includes an external hardware option port function 310 for communicating with any external hardware devices or accessories such as a noncontact distance measurement device 242.
  • a real time clock (RTC) and log 306, a battery pack interface (IF) 316, and a diagnostic port 318 are also included in the functionality in an embodiment of the base processor board 204 depicted in FIG. 3.
  • the base processor board 204 also manages all the wired and wireless data communication with external (host computer) and internal (display processor 202) devices.
  • the base processor board 204 has the capability of communicating with an Ethernet network via an Ethernet function 320 (e.g., using a clock synchronization standard such as Institute of Electrical and Electronics Engineers (IEEE) 1588), with a wireless local area network (WLAN) via a LAN function 322, and with Bluetooth module 232 via a parallel to serial communications (PSC) function 314.
  • the base processor board 204 also includes a connection to a universal serial bus (USB) device 312.
  • USB universal serial bus
  • the base processor board 204 transmits and collects raw measurement data (e.g., encoder system counts, temperature readings) for processing into measurement data without the need for any preprocessing, such as disclosed in the serial box of the
  • the base processor 204 sends the processed data to the display processor 328 on the user interface board 202 via an RS485 interface (IF) 326. In an embodiment, the base processor 204 also sends the raw measurement data to an external computer.
  • IF RS485 interface
  • the angle and positional data received by the base processor is utilized by applications executing on the display processor 328 to provide an autonomous metrology system within the AACMM 100.
  • Applications may be executed on the display processor 328 to support functions such as, but not limited to: measurement of features, guidance and training graphics, remote diagnostics, temperature corrections, control of various operational features, connection to various networks, and display of measured objects.
  • the user interface board 202 includes several interface options including a secure digital (SD) card interface 330, a memory 332, a USB Host interface 334, a diagnostic port 336, a camera port 340, an audio/video interface 342, a dial-up/ cell modem 344 and a global positioning system (GPS) port 346.
  • SD secure digital
  • the electronic data processing system 210 shown in FIG. 3A also includes a base power board 206 with an environmental recorder 362 for recording environmental data.
  • the base power board 206 also provides power to the electronic data processing system 210 using an AC/DC converter 358 and a battery charger control 360.
  • the base power board 206 communicates with the base processor board 204 using inter-integrated circuit (I2C) serial single ended bus 354 as well as via a DMA serial peripheral interface (DSPI) 357.
  • I2C inter-integrated circuit
  • DSPI DMA serial peripheral interface
  • the base power board 206 is connected to a tilt sensor and radio frequency identification (RFID) module 208 via an input/output (I/O) expansion function 364 implemented in the base power board 206.
  • RFID radio frequency identification
  • all or a subset of the components may be physically located in different locations and/or functions combined in different manners than that shown in FIG. 3.
  • the base processor board 204 and the user interface board 202 are combined into one physical board.
  • the device 400 includes an enclosure 402 that includes a handle portion 404 that is sized and shaped to be held in an operator's hand, such as in a pistol grip for example.
  • the enclosure 402 is a thin wall structure having a cavity 406 (FIG. 9).
  • the cavity 406 is sized and configured to receive a controller 408.
  • the controller 408 may be a digital circuit, having a microprocessor for example, or an analog circuit.
  • the controller 408 is in asynchronous bidirectional communication with the electronic data processing system 210 (FIGs. 2 and 3).
  • the communication connection between the controller 408 and the electronic data processing system 210 may be wired (e.g. via controller 420) or may be a direct or indirect wireless connection (e.g. Bluetooth or IEEE 802.11) or a combination of wired and wireless connections.
  • the enclosure 402 is formed in two halves 410, 412, such as from an injection molded plastic material for example.
  • the halves 410, 412 may be secured together by fasteners, such as screws 414 for example.
  • the enclosure halves 410, 412 may be secured together by adhesives or ultrasonic welding for example.
  • the handle portion 404 also includes buttons or actuators 416, 418 that may be manually activated by the operator.
  • the actuators 416, 418 are coupled to the controller 408 that transmits a signal to a controller 420 within the probe housing 102.
  • the actuators 416, 418 perform the functions of actuators 422, 424 located on the probe housing 102 opposite the device 400.
  • the device 400 may have additional switches, buttons or other actuators that may also be used to control the device 400, the AACMM 100 or vice versa.
  • the device 400 may include indicators, such as light emitting diodes (LEDs), sound generators, meters, displays or gauges for example.
  • the device 400 may include a digital voice recorder that allows for synchronization of verbal comments with a measured point.
  • the device 400 includes a microphone that allows the operator to transmit voice activated commands to the electronic data processing system 210.
  • the handle portion 404 may be configured to be used with either operator hand or for a particular hand (e.g. left handed or right handed).
  • the handle portion 404 may also be configured to facilitate operators with disabilities (e.g. operators with missing finders or operators with prosthetic arms).
  • the handle portion 404 may be removed and the probe housing 102 used by itself when clearance space is limited.
  • the probe member 401 may also comprise the shaft of an axis of rotation for AACMM 100.
  • the probe member 401 includes a mechanical and electrical interface 426 having a first connector 429 (Fig. 8) on the device 400 that cooperates with a second connector 428 on the probe housing 102.
  • the connectors 428, 429 may include electrical and mechanical features that allow for coupling of the device 400 to the probe housing 102.
  • the interface 426 includes a first surface 430 having a mechanical coupler 432 and an electrical connector 434 thereon.
  • the enclosure 402 also includes a second surface 436 positioned adjacent to and offset from the first surface 430.
  • the second surface 436 is a planar surface offset a distance of approximately 0.5 inches from the first surface 430.
  • This offset provides a clearance for the operator's fingers when tightening or loosening a fastener such as collar 438.
  • the interface 426 provides for a relatively quick and secure electronic connection between the device 400 and the probe housing 102 without the need to align connector pins, and without the need for separate cables or connectors.
  • the electrical connector 434 extends from the first surface 430 and includes one or more connector pins 440 that are electrically coupled in asynchronous bidirectional communication with the electronic data processing system 210 (FIGs. 2 and 3), such as via one or more arm buses 218 for example.
  • the bidirectional communication connection may be wired (e.g. via arm bus 218), wireless (e.g. Bluetooth or IEEE 802.11), or a combination of wired and wireless connections.
  • the electrical connector 434 is electrically coupled to the controller 420.
  • the controller 420 may be in asynchronous bidirectional communication with the electronic data processing system 210 such as via one or more arm buses 218 for example.
  • the electrical connector 434 is positioned to provide a relatively quick and secure electronic connection with electrical connector 442 on probe housing 102.
  • the electrical connectors 434, 442 connect with each other when the device 400 is attached to the probe housing 102.
  • the electrical connectors 434, 442 may each comprise a metal encased connector housing that provides shielding from electromagnetic interference as well as protecting the connector pins and assisting with pin alignment during the process of attaching the device 400 to the probe housing 102.
  • the mechanical coupler 432 provides relatively rigid mechanical coupling between the device 400 and the probe housing 102 to support relatively precise applications in which the location of the device 400 on the end of the arm portion 104 of the AACMM 100 preferably does not shift or move. Any such movement may typically cause an undesirable degradation in the accuracy of the measurement result.
  • the mechanical coupler 432 includes a first projection 444 positioned on one end 448 (the leading edge or "front" of the device 400).
  • the first projection 444 may include a keyed, notched or ramped interface that forms a lip 446 that extends from the first projection 444.
  • the lip 446 is sized to be received in a slot 450 defined by a projection 452 extending from the probe housing 102 (FIG. 8).
  • the first projection 444 and the slot 450 along with the collar 438 form a coupler arrangement such that when the lip 446 is positioned within the slot 450, the slot 450 may be used to restrict both the longitudinal and lateral movement of the device 400 when attached to the probe housing 102.
  • the rotation of the collar 438 may be used to secure the lip 446 within the slot 450.
  • the mechanical coupler 432 may include a second projection 454.
  • the second projection 454 may have a keyed, notched-lip or ramped interface surface 456 (FIG. 5).
  • the second projection 454 is positioned to engage a fastener associated with the probe housing 102, such as collar 438 for example.
  • the mechanical coupler 432 includes a raised surface projecting from surface 430 that adjacent to or disposed about the electrical connector 434 which provides a pivot point for the interface 426 (FIGs. 7 and 8). This serves as the third of three points of mechanical contact between the device 400 and the probe housing 102 when the device 400 is attached thereto.
  • the probe housing 102 includes a collar 438 arranged co-axially on one end.
  • the collar 438 includes a threaded portion that is movable between a first position (FIG. 5) and a second position (FIG. 7).
  • the collar 438 may be used to secure or remove the device 400 without the need for external tools.
  • Rotation of the collar 438 moves the collar 438 along a relatively coarse, square-threaded cylinder 474.
  • the use of such relatively large size, square-thread and contoured surfaces allows for significant clamping force with minimal rotational torque.
  • the coarse pitch of the threads of the cylinder 474 further allows the collar 438 to be tightened or loosened with minimal rotation.
  • the lip 446 is inserted into the slot 450 and the device is pivoted to rotate the second projection 454 toward surface 458 as indicated by arrow 464 (FIG. 5).
  • the collar 438 is rotated causing the collar 438 to move or translate in the direction indicated by arrow 462 into engagement with surface 456.
  • the movement of the collar 438 against the angled surface 456 drives the mechanical coupler 432 against the raised surface 460. This assists in overcoming potential issues with distortion of the interface or foreign objects on the surface of the interface that could interfere with the rigid seating of the device 400 to the probe housing 102.
  • FIG. 5 includes arrows 462, 464 to show the direction of movement of the device 400 and the collar 438.
  • the offset distance of the surface 436 of device 400 provides a gap 472 between the collar 438 and the surface 436 (FIG. 6).
  • the gap 472 allows the operator to obtain a firmer grip on the collar 438 while reducing the risk of pinching fingers as the collar 438 is rotated.
  • the probe housing 102 is of sufficient stiffness to reduce or prevent the distortion when the collar 438 is tightened.
  • Embodiments of the interface 426 allow for the proper alignment of the mechanical coupler 432 and electrical connector 434 and also protect the electronics interface from applied stresses that may otherwise arise due to the clamping action of the collar 438, the lip 446 and the surface 456. This provides advantages in reducing or eliminating stress damage to circuit board 476 mounted electrical connectors 434, 442 that may have soldered terminals. Also, embodiments provide advantages over known approaches in that no tools are required for a user to connect or disconnect the device 400 from the probe housing 102. This allows the operator to manually connect and disconnect the device 400 from the probe housing 102 with relative ease.
  • a relatively large number of functions may be shared between the AACMM 100 and the device 400.
  • switches, buttons or other actuators located on the AACMM 100 may be used to control the device 400 or vice versa.
  • commands and data may be transmitted from electronic data processing system 210 to the device 400.
  • the device 400 is a video camera that transmits data of a recorded image to be stored in memory on the base processor 204 or displayed on the display 328.
  • the device 400 is an image projector that receives data from the electronic data processing system 210.
  • temperature sensors located in either the AACMM 100 or the device 400 may be shared by the other.
  • embodiments of the present invention provide advantages in providing a flexible interface that allows a wide variety of accessory devices 400 to be quickly, easily and reliably coupled to the AACMM 100. Further, the capability of sharing functions between the AACMM 100 and the device 400 may allow a reduction in size, power consumption and complexity of the AACMM 100 by eliminating duplicity.
  • the controller 408 may alter the operation or
  • the controller 408 may alter indicator lights on the probe housing 102 to either emit a different color light, a different intensity of light, or turn on/off at different times when the device 400 is attached versus when the probe housing 102 is used by itself.
  • the device 400 includes a range finding sensor (not shown) that measures the distance to an object.
  • the controller 408 may change indicator lights on the probe housing 102 in order to provide an indication to the operator how far away the object is from the probe tip 118.
  • the controller 408 may change the color of the indicator lights based on the quality of the image acquired by a laser scanner device. This provides advantages in simplifying the requirements of controller 420 and allows for upgraded or increased functionality through the addition of accessory devices.
  • FIGs. 10 - 15 refer to distance measuring devices operably coupled to an articulated arm CMM, wherein the distance to a point on an object is determined based at least in part on the speed of light in air through which electromagnetic radiation propagates from the device to the object point.
  • the speed of light in air depends on the properties of the air such as the air temperature, barometric pressure, relative humidity, and concentration of carbon dioxide. Such air properties influence the index of refraction n of the air.
  • a distance measuring device of the sort discussed herein is based on the time-of-flight of the light in the air (the round-trip time for the light to travel from the device to the object and back to the device).
  • a method of measuring distance based on the time-of-flight of light depends on the speed of light in air and is therefore easily distinguished from methods of measuring distance based on triangulation.
  • Triangulation-based methods involve projecting light from a light source along a particular direction and then intercepting the light on a camera pixel along a particular direction. By knowing the distance between the camera and the projector and by matching a projected angle with a received angle, the method of triangulation enables the distance to the object to be determined using one known side length and two known angles of a triangle. The method of triangulation, therefore, does not directly depend on the speed of light in air.
  • a device 500 is shown that allows for non-contact three-dimensional measurement of an object using a laser scanner.
  • the device 500 is removably coupled to the probe member 401 via coupler mechanism and interface 426.
  • the device 500 may be configured to operate independently from the probe member 401.
  • the device 500 is integrally connected to the probe member 401.
  • the device 500 includes a body 502 having a handle 504 that allows the operator to hold and manipulate the orientation of the device 500.
  • the interface 426 is arranged adjacent the handle 504 for mechanical and electrical coupling of the device 500 to the AACMM 100.
  • Extending from one side is a scanning head 506.
  • the scanning head 506 has a first housing portion 508 for a light transmitter 510, an optical receiver 512 and controller 514.
  • the light transmitter 510 is a light source suitable electromagnetic radiation emitter such as a coherent laser light for example.
  • the laser light may have a wavelength in the visible or non- visible spectrum.
  • the device 500 is a laser detection and ranging device (LIDAR).
  • the controller 514 is in asynchronous bidirectional
  • the controller 514 includes an evaluation and control unit 515 and a field programmable gate array (FPGA) 517.
  • the evaluation and control unit 515 is a computer processor based controlling unit which is in bidirectional communication with the FPGA 517.
  • the FPGA 517 drives the light transmitter 510 in such a manner that it generates a modulated measuring beam Ls.
  • the beam Ls is reflected off of the mirror 522 towards the object.
  • the evaluation and control unit 515 receives a signal from the receiver 512 for determining the distance "d" and the light intensity of the reflected light beam Lr. In the exemplary embodiment, the distance is determined using the propagation time of the emitted light in making a round trip to the target and back.
  • the distance is determined based on the combined propagation time of a measuring beam Ls and a reflected beam Lr.
  • the outgoing light Ls is shown as a single dotted line.
  • the outgoing light is a collimated beam of light, which means that the rays of light traveling outward toward the object under test are approximately parallel.
  • the target may be a cooperative or non-cooperative target.
  • a cooperative target is a target designed to return a large fraction of the light that strikes it.
  • a common example of a cooperative target is a retroreflective target such as a cube-corner retroreflector having an apex centered in a metallic sphere.
  • a non-cooperative target is one not specially designed to return a large portion of the beam power.
  • Non- cooperative target is a surface of an object under test, for example, a metallic or plastic surface.
  • the light returns in a relatively wide angular spread and usually fills up the mirror 522.
  • This expanding aspect of the beam Lr is not shown in FIG. 10 but is shown in FIG. 14 as discussed herein below.
  • the light is shown emitted from a central light source 510 and returning through an outer portion of an optical receiver 512.
  • the outer portion of optical receiver 512 might for example be the outer portion of a lens.
  • the light returned is collimated.
  • Adjacent the first housing portion 508 is a second housing portion 516 for a drive 518, and a rotor 520.
  • a mirror 522 is disposed on an end of the rotor 520 opposite the light transmitter 510 within a gap 527 defined by the first housing 508 and the second housing 516.
  • the mirror 522 is arranged on a 45 degree angle with respect to the light transmitter 510 and the receiver 512.
  • the drive 518 is arranged to rotate the rotor 520 about an axis 524 as indicated by the arrow 526.
  • the axis 524 is parallel or collinear with the measurement beam emitted from the light transmitter 510.
  • a pair of angled surfaces 523, 525 are arranged on one side of the gap 527 to allow a wider field of view for the scanner.
  • the device 500 activates the light transmitter 510 in response to an action by the operator, such as by depressing actuator 416 for example.
  • the measuring beam Ls exits the first housing 508 via an opening 509 and is reflected by the mirror 522. Since the drive 518 is rotating the mirror 522, the measuring beam Ls is emitted in a "fan" shape such that the measuring beam Ls can illuminate virtually all object points in
  • the drive 518 is provided with an angular transducer such as an angular encoder 528. From the distance and encoder data, the controller 514 can determine the coordinate data for each measured point. It should be appreciated that since the device 500 is coupled to the probe member 401 of the AACMM 100, the electronic data processing system 210 can determine the location and orientation of the device 500 from the encoder 214 data. In one
  • the controller 514 transmits the coordinate and intensity data to the probe member 401 via bus 240, which transmits the coordinate and intensity data to the electronic data processing system 210.
  • the electronic data processing system may determine the X, Y, Z coordinate data (relative to the AACMM 100) for each measured object point by combining the arm encoder data with the distance data.
  • the device 500 may be operated independently from the probe member 401.
  • the device 500 may further include one or more location devices 530.
  • the location device 530 may include one or more inertial navigation sensors, such as a gyroscopic sensor, a global positioning system (GPS) sensor, compass sensors, or accelerometers for example. Such sensors may be electrically coupled to the controller 514. Gyroscopic and accelerometer sensors may be single-axis or multiple-axis devices.
  • the location device 530 is configured to allow the controller 514 to measure or maintain the orientation of the device when detached from the AACMM 100.
  • a gyroscope within the location device 530 may be a MEMS gyroscopic device, a solid-state ring-laser device, a fiber-optic device or other type of inertial device.
  • the reference markers are small sticky markers having an adhesive or sticky backing, for example, circular markers that are placed on an object or objects being measured. Even a relatively small number of such markers can be useful in registering multiple images, especially if the object being measured has a relatively small number of features to use for registration.
  • the reference markers may be projected as spots of light onto the object or objects under inspection. For example, a small portable projector capable of emitting a plurality of small dots may be placed in front of the object or objects to be measured. An advantage of projected dots over sticky dots is that the dots do not have to be attached and later removed.
  • the controller 514 when the device 500 is removed from the AACMM 100, the controller 514 includes a memory device (not shown) for storing data during operation. This stored data is then transmitted to the electronic data processing system 210 when the device 500 is once again coupled to the probe member 401.
  • the device includes a communication device that allows the device 500 to transmit the distance and intensity data wirelessly to the AACMM 100 or another computing device.
  • FIG. 14 Another embodiment of the noncontact measuring device 500 is shown in FIG. 14.
  • the mirror 522 is replaced by a galvanometer mirror system 532.
  • a galvanometer commonly referred to as a galvo 534A, 534B, is a device that moves in response to an electrical current.
  • the galvos 534A, 534B can move mirrors 536A, 536B about two axes 538, 540, respectively.
  • the axes 538, 540 are mutually orthogonal and the mirrors 536A, 536B are mutually orthogonal.
  • the measuring beam Ls may be directed to illuminate points over an area 541 on the object rather than in a radial fanned line.
  • the galvos 534A, 534B are electrically coupled to the controller 514.
  • each galvo in order to correlate the distance and intensity information with the individual measuring points, each galvo includes an angle transducer, such as an angular encoder 542, to measure the position of the associated galvo 534.
  • the angle is determined based on the current applied to each galvo.
  • FIG. 14 illustrates the beam spreading that occurs for the case in which the target is a non-cooperative target having a target spot 541 that scatters the light. Such scattering would occur for example in a diffusely scattering surface. In this case, the light spreads on the return path and enters an outer portion of the receiver 512.
  • the controller 514 determines the distance to an object point and correlates this with the encoder 542 data to determine the three-dimensional coordinate data (for example, X, Y, Z) from the device 500. This coordinate data is transmitted, along with the intensity data to the probe member 401 via bus 240.
  • the electronic data processing system may determine the X, Y, Z coordinate data (relative to the AACMM 100) for each measured object point by combining the arm encoder data with the distance data and the angle data from the galvos.
  • a single galvo 534A is used without galvo 534B so that the beam of light is moved along a single dimension rather than along two dimensions.
  • the device 500 may include a location device 530, such as an inertial navigation device for example, to allow the acquisition of coordinate data with the device 500 detached and operating independently from the probe member 401.
  • a location device 530 such as an inertial navigation device for example, to allow the acquisition of coordinate data with the device 500 detached and operating independently from the probe member 401.
  • the mirror is a micro electro-mechanical system (MEMS) device 544.
  • the MEMS device 544 includes a mirror 546 mounted to a semi-conductor device 548.
  • the MEMS system 544 is a Mirrorcle Technologies, Inc. dual-axis scanning mirror mounted on a 24 pin chip.
  • a MEMS system 544 uses a large voltage potential across capacitive plates to move the mirror 546 about two orthogonal axes 550, 552.
  • the MEMS system can rotate the mirror 546 at scanning angles of -10° to +10° for each axis. Similar to the galvo mirror system discussed above, the MEMS system 544 allows the illuminations of measured points over an area 541 rather than a line.
  • the orientation of the mirror 546 is directly proportional to the voltage applied. This provides advantages in that the encoder may be eliminated since the controller 514 may correlate the distance and intensity data to the angle of the mirror 546 based on the applied voltage to determine the coordinate data (X, Y, Z) of the measured object points. This coordinate data is transmitted, along with the intensity data to the probe member 401 via bus 240. In one embodiment, the electronic data processing system may determine the X, Y, Z coordinate data (relative to the AACMM 100) for each measured object point by combining the arm encoder data with the distance and intensity data.
  • the MEMS device 546 includes an array of small mirror elements that can be rotated to a desired direction.
  • the device 500 may include a location device 530, such as an inertial navigation device for example, to allow the acquisition of coordinate data with the device 500 detached and operating independently from the probe member 401.
  • a location device 530 such as an inertial navigation device for example, to allow the acquisition of coordinate data with the device 500 detached and operating independently from the probe member 401.
  • the device 500 is emitting the measuring beam perpendicular to the longitudinal axis of the device 500, this is for exemplary purposes and the claimed invention should not be so limited.
  • the measuring beam is emitted from an end of the device 500 (e.g. parallel to the length of the device 500). In still other embodiments, the measuring beam is emitted on an angle relative to the longitudinal axis of the device 500.

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

Abstract

L'invention concerne une machine de mesure de coordonnées à bras articulé (AACMM - Articulated Arm Coordinate Measuring Machine) portable permettant de mesurer les coordonnées d'un objet dans l'espace. L'AACMM comprend une base et une partie bras présentant des première et seconde extrémités opposées. La partie bras comprend une pluralité de segments de bras raccordés, chaque segment de bras comprenant au moins un capteur de position servant à produire un signal de position. Un circuit électronique reçoit le signal de position en provenance du ou des capteurs de position. Un élément de type sonde est accouplé à la première extrémité. Un dispositif de mesure sans contact est accouplé à l'élément de type sonde, le dispositif comportant un émetteur de rayonnement électromagnétique et étant configuré pour déterminer une distance par rapport à un objet en se basant au moins en partie sur le temps de propagation des faisceaux lumineux émis et réfléchis.
PCT/US2013/040321 2012-06-11 2013-05-09 Machines de mesure de coordonnées comportant des accessoires amovibles WO2013188026A1 (fr)

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CN201380030405.3A CN104350356A (zh) 2012-06-11 2013-05-09 具有可拆卸附件的坐标测量机
DE112013002892.1T DE112013002892T5 (de) 2012-06-11 2013-05-09 Koordinatenmessgeräte mit entfernbaren Zusatzteilen
JP2015516023A JP2015522805A (ja) 2012-06-11 2013-05-09 着脱可能なアクセサリを有する座標測定機
GB1500230.6A GB2517880B (en) 2012-06-11 2013-05-09 Coordinate measurement machines with removable accessories

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US13/493,639 US8875409B2 (en) 2010-01-20 2012-06-11 Coordinate measurement machines with removable accessories

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USRE45854E1 (en) 2006-07-03 2016-01-19 Faro Technologies, Inc. Method and an apparatus for capturing three-dimensional data of an area of space
US9551575B2 (en) 2009-03-25 2017-01-24 Faro Technologies, Inc. Laser scanner having a multi-color light source and real-time color receiver
US9074883B2 (en) 2009-03-25 2015-07-07 Faro Technologies, Inc. Device for optically scanning and measuring an environment
US9417316B2 (en) 2009-11-20 2016-08-16 Faro Technologies, Inc. Device for optically scanning and measuring an environment
US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9163922B2 (en) 2010-01-20 2015-10-20 Faro Technologies, Inc. Coordinate measurement machine with distance meter and camera to determine dimensions within camera images
US10060722B2 (en) 2010-01-20 2018-08-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9329271B2 (en) 2010-05-10 2016-05-03 Faro Technologies, Inc. Method for optically scanning and measuring an environment
US9684078B2 (en) 2010-05-10 2017-06-20 Faro Technologies, Inc. Method for optically scanning and measuring an environment
US9168654B2 (en) 2010-11-16 2015-10-27 Faro Technologies, Inc. Coordinate measuring machines with dual layer arm
US9417056B2 (en) 2012-01-25 2016-08-16 Faro Technologies, Inc. Device for optically scanning and measuring an environment
GB2512005A (en) * 2012-06-15 2014-09-17 Faro Tech Inc Coordinate measurement machines with removable accessories
GB2512005B (en) * 2012-06-15 2015-01-28 Faro Tech Inc Coordinate measurement machines with removable accessories
US8997362B2 (en) 2012-07-17 2015-04-07 Faro Technologies, Inc. Portable articulated arm coordinate measuring machine with optical communications bus
US9372265B2 (en) 2012-10-05 2016-06-21 Faro Technologies, Inc. Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration
US11815600B2 (en) 2012-10-05 2023-11-14 Faro Technologies, Inc. Using a two-dimensional scanner to speed registration of three-dimensional scan data
US9739886B2 (en) 2012-10-05 2017-08-22 Faro Technologies, Inc. Using a two-dimensional scanner to speed registration of three-dimensional scan data
US9746559B2 (en) 2012-10-05 2017-08-29 Faro Technologies, Inc. Using two-dimensional camera images to speed registration of three-dimensional scans
US9513107B2 (en) 2012-10-05 2016-12-06 Faro Technologies, Inc. Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner
US10067231B2 (en) 2012-10-05 2018-09-04 Faro Technologies, Inc. Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner
US10203413B2 (en) 2012-10-05 2019-02-12 Faro Technologies, Inc. Using a two-dimensional scanner to speed registration of three-dimensional scan data
US11112501B2 (en) 2012-10-05 2021-09-07 Faro Technologies, Inc. Using a two-dimensional scanner to speed registration of three-dimensional scan data
US9618620B2 (en) 2012-10-05 2017-04-11 Faro Technologies, Inc. Using depth-camera images to speed registration of three-dimensional scans
US10175037B2 (en) 2015-12-27 2019-01-08 Faro Technologies, Inc. 3-D measuring device with battery pack
US20220011226A1 (en) * 2020-07-07 2022-01-13 Gamma Scientific Inc. Retroreflectometer for non-contact measurements of optical characteristics
US11619582B2 (en) * 2020-07-07 2023-04-04 Gamma Scientific Inc. Retroreflectometer for non-contact measurements of optical characteristics

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GB2517880A (en) 2015-03-04
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GB2517880B (en) 2018-07-11
JP2015522805A (ja) 2015-08-06

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