Inertial dimension metrology

• US 10,545,014 B2
• Filed: 01/27/2017
• Issued: 01/28/2020
• Est. Priority Date: 12/01/2014
• Status: Active Grant

• Current Assignee: Advanced Theodolite Technology, Inc. (Sandvik AB)
• Original Assignee: Edward A. Ingham, Steven Eugene Ihlenfeldt
• Inventors: Ihlenfeldt, Steven Eugene, Ingham, Edward A.
• Primary Examiner(s): Bennett, George B
• Application Number:
  US15/418,444
• Publication Number:
  US 20170138716A1
• Time in Patent Office: 1,096 Days
• Field of Search: 33503
• CPC Class Codes: G01B 11/005 coordinate measuring machines
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors

Abstract

A method of performing dimensional metrology of an object (12) includes incorporating an Inertial Measurement Unit (IMU-18) with an elongate probe (20) in a portable metroprobe (10). A tip (22) of the probe (20) has an offset length (L) from an origin (26) of a coordinate system in the IMU (18) and position (X,Y,Z) thereof is correlated based on attitude (A,B,C) measurement of the IMU (18). The metroprobe (10) is transported in sequence to a complement of survey points (Pn) on the object (12) for measuring corresponding coordinates (X,Y,Z) thereof based on measured attitude (A,B,C) of the IMU (18).

Claims

1. A portable metroprobe usable in performing dimensional metrology of an object using a plurality of survey points on the object, comprising:

an Inertial Measurement Unit (IMU) operable to determine an attitude measurement of said IMU and define a coordinate system in said IMU having an origin based on said attitude measurement of said IMU;

an elongate probe attached to said IMU;

a probe tip attached to said probe having a first offset length from said origin of said coordinate system in said IMU; and

said metroprobe being operable to correlate a position of said probe tip based on said attitude measurement of said IMU and being transportable to the plurality of survey points on the object for measuring corresponding coordinates thereof based on said measured attitude of said IMU.

2. The portable metroprobe of claim 1, wherein said probe tip is located at a distal end of said probe and has an outward spherical surface portion, said spherical surface portion being sized for use in contacting any of the plurality of survey points on the object during the measurement survey.

3. The portable metroprobe of claim 1, wherein:

said IMU comprises a plurality of accelerometers and gyroscopes operable to correspondingly define three orthogonal linear axes and three respective angular axes; and

said IMU correlates a linear position of said probe tip to said coordinate system origin based on an angular attitude of said IMU as measured by said gyroscopes.

4. The portable metroprobe of claim 3, wherein said IMU is operable when said metroprobe is transported to a reference location to establish at said probe tip three linear reference coordinates relative to said three linear axes and three angular reference coordinates relative to said three angular axes.

5. The portable metroprobe of claim 3, wherein said IMU correlates said probe tip offset position to said coordinate system origin based on an angular position of said probe [tip?] relative to at least one of said three linear axes, and said metroprobe is operable with attitudes ranging from horizontal to vertical.

6. The portable metroprobe of claim 1, wherein:

said IMU is operable, when the metaprobe is transported in a sequential survey of the plurality of survey points on the object, to;

measure linear positions of said IMU at each of the plurality of survey points on the object;

measure said attitude of said IMU and correlate therewith an attitude of said probe tip at each of the plurality of survey points on the object; and

establish corresponding linear coordinates of said probe tip in contact with each of the plurality of survey points on the object correlated to said measured linear positions of said IMU at each of the plurality of survey points on the object.

7. The portable metroprobe of claim 6, wherein:

said IMU comprises a plurality of accelerometers and gyroscopes operable to correspondingly define three orthogonal linear axes and three respective angular axes;

said IMU is operable to measure an angular attitude of said IMU by said gyroscopes; and

said IMU is operable to measure said linear positions of said IMU by both said accelerometers and said gyroscopes.

8. The portable metroprobe of claim 7, wherein:

said metroprobe is autonomous in performing the dimensional metrology of the object; and

further includes a controller operatively joined to said IMU, said controller being operable to establish linear coordinates of said probe tip at each of the plurality of survey points on the object relative to said three orthogonal linear axes based on said measured angular attitude and linear position of said IMU.

9. The portable metroprobe of claim 8, wherein said IMU is subject to drift errors, and said IMU is operable to correct said linear coordinates at each of the plurality of said survey points on the object to reduce said drift errors.

10. The portable metroprobe of claim 8, wherein:

when said metroprobe is transported between two reference locations when surveying the plurality of survey points on the object, said IMU is operable to establish a position error vector based on a difference in linear positions measured at said two reference locations, and to resolve said position error vector to reduce corresponding errors in said linear coordinates at said survey points on the object.

11. The portable metroprobe of claim 10, wherein:

said IMU drift errors increase with time during transportation of said metroprobe during surveying the plurality of survey points on the object, said IMU is operable to resolve said error vector to correspondingly reduce more error in said linear coordinates at subsequent survey points on the object.

12. The portable metroprobe of claim 9, further comprising:

a stationary cradle upon which said metroprobe is positionable at one of said survey points on the object; and

said IMU being operable to introduce a zero velocity update in said IMU to reduce said drift errors in all three linear coordinates for subsequent survey points on the object.

13. A system for performing dimensional metrology of an object, comprising:

a portable metroprobe usable in performing dimensional metrology of an object using a plurality of survey points on the object, comprising;

an Inertial Measurement Unit (IMU) operable to determine an attitude measurement of said IMU and define a coordinate system in said IMU having an origin based on said attitude measurement of said IMU;

an elongate probe attached to said IMU;

a probe tip attached to said probe having a first offset length from said origin of said coordinate system in said IMU;

said metroprobe being operable to correlate a position of said probe tip based on said attitude measurement of said IMU and being transportable to the plurality of survey points on the object for measuring corresponding coordinates thereof based on said measured attitude of said IMU;

said IMU being operable, when the metaprobe is transported in a sequential survey of the plurality of survey points on the object, to;

measure linear positions of said IMU at each of the plurality of survey points on the object;

measure said attitude of said IMU and correlate therewith an attitude of said probe tip at each of the plurality of survey points on the object; and

establish corresponding linear coordinates of said probe tip in contact with each of the plurality of survey points on the object correlated to said measured linear positions of said IMU at each of the plurality of survey points on the object; and

an independent coordinate measurement machine (CMM) having line-of-sight with said metroprobe and being operable to measure a linear positions of said IMU; and

said IMU establishing said linear coordinates of said probe tip at each of the plurality of survey points on the object by correlating such to said linear positions of said IMU measured by said CMM.

14. The system of claim 13, wherein:

said CMM comprises a laser tracker having a variable horizontal and vertical field of view; and

the system further comprising;

a cooperating target integrated with said IMU and said probe, and said target having a second offset length from said origin of said coordinate system in said IMU; and

a position of said target as measured by said laser tracker being correlated by said IMU to said origin of said coordinate system in said IMU based on said attitude measurement of said IMU to correspondingly establishing said linear position of said IMU and establish said linear coordinates of said probe tip at each of the plurality of survey points.

15. The system of claim 14, wherein:

said target comprises a spherically mounted retro-reflector (SMR) mounted to said IMU; and

said IMU comprises a plurality of accelerometers and gyroscopes operable to correspondingly defining three orthogonal linear axes and three respective angular axes.

16. The system of claim 15, wherein:

said laser tracker is operable to measure a linear position of said target when in line-of-sight therewith and said IMU is operable to in turn establish said linear coordinates of said probe tip as correlated with said target; and

said IMU is operable to measure said linear position of said IMU using said accelerometers when line-of-sight of said laser tracker with said target is blocked to in turn establish said linear coordinates of said probe tip as correlated with said IMU.

17. The system of claim 15, wherein:

said IMU is operable to measure said attitude of said IMU using said gyroscopes to correlate with attitudes of both said probe tip and said target, said probe tip and said target having corresponding offset lengths, to correlate said linear position of said probe tip to said origin of said coordinate system in said IMU.

18. The system of claim 15, further comprising:

a stationary cradle upon which said metroprobe is positionable at one of said survey points on the object when line-of-sight of said laser tracker with said target is blocked; and

said IMU being operable to introduce a zero velocity update in said IMU to reduce drift errors in all three linear coordinates for sequential survey points on the object during which line-of-sight to said laser tracker with said target is also blocked.

19. The system of claim 15, further comprising:

a controller operatively connected to said laser tracker and said IMU, said controller being operable to control said laser tracker to follow movement of said target based on said measured linear position of said IMU obtained by using said accelerometers and correlating said position of said target to said measured linear position of said IMU.

20. The system of claim 15, wherein:

said target comprises a multiaxis motorized SMR pivotally mounted to said IMU;

the system further comprising;

a controller operatively connected to said laser tracker, said target and said IMU, said controller being operable to automatically track said laser tracker to said target and automatically back-tracking said target to said laser tracker in response to a correlated position of said target relative to said position and attitude of said IMU.

21. The system of claim 15, further comprising:

a second IMU integrated with said laser tracker, said laser tracker being operable to measure a position and an attitude of said second IMU, and when conducting a survey using said laser tracker at two different reference locations having line-of-sight with a plurality of common survey points, said laser tracker being operable to measure said coordinates thereof; and

said second IMU being operable to perform a least squares iterative optimization process using said position and attitude of said second IMU at said two different reference locations, and said measured coordinates at said common survey points to conform all measurements from said laser tracker to a common coordinate reference system.

22. A system for performing dimensional metrology of an object comprising:

a portable metroprobe comprising an inertial measurement unit integrated with both an elongate probe;

a controller operatively joined to said IMU for controlling operation thereof;

said controller being configured to correlate a position and an attitude of said probe to a reference coordinate system in said IMU; and

said metroprobe being configured for establishing coordinates of said probe at a plurality of survey locations on the object based on said attitude of said IMU as measured by said IMU.