Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
First Claim
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1. A portable articulated arm coordinate measuring machine (AACMM) for measuring three-dimensional (3D) coordinates of an object in space, comprising:
- a processor;
a noncontact 3D measuring device operably coupled to the processor, the noncontact 3D measuring device having a projector and a scanner camera, the projector configured to emit a first pattern of light onto the object, the scanner camera arranged to receive the first pattern of light reflected from the object and to send a first electrical signal to the processor in response;
an edge-detecting camera operably coupled to the processor, the edge-detecting camera being one of the scanner camera or a second camera different than the scanner camera, the edge-detecting camera positioned to receive during operation a second light reflected from an edge feature of the object and to send a second electrical signal to the processor in response; and
the processor being responsive to non-transitory computer readable instructions, the computer readable instructions comprising;
determining a first 3D coordinates of first points on a surface of the object based at least in part on the first pattern of light from the projector and the first electrical signal;
determining a first ray from the edge-detecting camera to the object, the first ray based at least in part on the second electrical signal; and
determining a second 3D coordinates of an edge point of the edge feature, the second 3D coordinates based at least in part on an intersection of the first ray with the first 3D coordinates of the surface.
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Abstract
A portable articulated arm coordinate measuring machine includes a noncontact 3D measuring device that has a projector configured to emit a first pattern of light onto an object, a scanner camera arranged to receive the first pattern of light reflected from the surface of the object, an edge-detecting camera arranged to receive light reflected from an edge feature of the object, and a processor configured to determine first 3D coordinates of an edge point of the edge feature based on electrical signals received from the scanner camera and the edge-detecting camera.
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Citations
7 Claims
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1. A portable articulated arm coordinate measuring machine (AACMM) for measuring three-dimensional (3D) coordinates of an object in space, comprising:
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a processor; a noncontact 3D measuring device operably coupled to the processor, the noncontact 3D measuring device having a projector and a scanner camera, the projector configured to emit a first pattern of light onto the object, the scanner camera arranged to receive the first pattern of light reflected from the object and to send a first electrical signal to the processor in response; an edge-detecting camera operably coupled to the processor, the edge-detecting camera being one of the scanner camera or a second camera different than the scanner camera, the edge-detecting camera positioned to receive during operation a second light reflected from an edge feature of the object and to send a second electrical signal to the processor in response; and the processor being responsive to non-transitory computer readable instructions, the computer readable instructions comprising; determining a first 3D coordinates of first points on a surface of the object based at least in part on the first pattern of light from the projector and the first electrical signal; determining a first ray from the edge-detecting camera to the object, the first ray based at least in part on the second electrical signal; and determining a second 3D coordinates of an edge point of the edge feature, the second 3D coordinates based at least in part on an intersection of the first ray with the first 3D coordinates of the surface. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for measuring an edge point with a portable articulated arm coordinate measuring machine (AACMM), the method comprising:
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providing the AACMM, the AACMM including a processor, a noncontact 3D measuring device operably coupled to the processor, the noncontact 3D measuring device having a projector and a scanner camera, the AACMM further including and an edge-detecting camera operably coupled to the processor, the edge-detecting camera being one of the scanner camera or a second camera different than the scanner camera; emitting from the projector a first pattern of light onto object; receiving with the scanner camera the first pattern of light reflected from the object and sending a first electrical signal to the processor in response; receiving with the edge-detecting camera a second light reflected from an edge feature of the object and sending a second electrical signal to the processor in response, the edge feature having an edge point, the edge point being a point on the edge feature; determining with the processor first 3D coordinates of first points on a surface of the object, the first 3D coordinates based at least in part on the first pattern of light from the projector and the first electrical signal; further determining with the processor a first ray from the edge-detecting camera to the object, the first ray based at least in part on the second electrical signal; further determining with the processor second 3D coordinates of the edge point based at least in part on an intersection of the first ray with the first 3D coordinates of the surface; and storing the second 3D coordinates of the edge point.
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Specification