Portable coordinate measurement machine with integrated line laser scanner

• US 20030191603A1
• Filed: 02/13/2003
• Published: 10/09/2003
• Est. Priority Date: 02/14/2002
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Helm, C. Andrew, Raab, Simon, Sajedi, Seyed Ali, Hobden, Randall A.
• Granted Patent: US 6,965,843 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: B23Q 35/04 using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
• CPC Class Codes: B25J 17/025 mounted in series
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 9/0012 making use of synthetic construction materials, e.g. plastics, composites
• CPC Class Codes: B25J 9/023 Cartesian coordinate type
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G01B 11/005 coordinate measuring machines
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence
• CPC Class Codes: G01B 5/004 for measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: Y10S 33/01 Magnetic

Abstract

A portable coordinate measurement machine comprises an articulated arm having jointed arm segments. The arm includes a measurement probe having an integrated line laser scanner rotatably mounted thereon.

Claims

1. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a rotatable probe at said first end of said arm;

a laser scanner associated with said probe, said laser scanner being rotatable together with said probe, said laser scanner including on-board image processing circuitry; and

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume.

2. The CMM of claim 1 including:

a handle extending from said rotatable probe.

3. The CMM of claim 1 including:

at least one bus within said articulated arm for transmitting at least one of power and data signals to said laser scanner, said laser scanner including circuitry communicating with said at least one bus.

4. The CMM of claim 3 wherein processed image data from said laser scanner is transferred using said bus.

5. The CMM of claim 1 including:

a data bus in said arm communicating between said image processing circuitry and said laser scanner.

6. The CMM of claim 1 wherein said probe and said line laser scanner are simultaneously accessable for taking measurements.

7. The CMM of claim 1 wherein said first end of said arm includes three degrees of freedom and wherein one of said three degrees of freedom is a rotation axis for rotating said laser scanner.

8. The CMM of claim 7 wherein said CMM includes three additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-1-3 configuration.

9. The CMM of claim 7 wherein said CMM includes four additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-2-3 configuration.

10. The CMM of claim 1 wherein said arm includes a serial communications bus and wherein said laser scanner is connected to said bus.

11. The CMM of claim 10 wherein said serial communications is RS-485 type.

12. The CMM of claim 1 wherein:

said laser scanner is detachably mounted onto said probe.

13. The CMM of claim 12 including:

a kinematic mount for detachably mounting said scanner to said probe.

14. The CMM of claim 1 wherein said rotatable probe includes a housing and wherein:

said laser scanner is positioned within said probe housing.

15. The CMM of claim 1 wherein said laser scanner includes a scanner housing for housing a laser and a camera, said housing being mounted to said probe.

16. The CMM of claim 15 wherein said scanner housing is permanently mounted to said probe.

17. The CMM of claim 15 wherein said scanner housing is detachably mounted to said probe.

18. The CMM of claim 15 wherein said laser scanner further includes:

a digital interface communicating with said camera;

a digital signal processor (DSP) communicating with said digital interface for processing images from said scanner;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

19. The CMM of claim 18 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

20. The CMM of claim 19 wherein:

said high speed data communications interface uses a Firewire data format.

21. The CMM of claim 15 wherein at least said laser and camera are mounted on a low CTE frame.

22. The CMM of claim 21 wherein said low CTE frame comprise a steel/nickel alloy.

23. The CMM of claim 22 wherein said steel/nickel alloy comprises Invar.

24. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a rotatable probe at said first end of said arm;

a laser scanner associated with said probe, said laser scanner being rotatable together with said probe;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume;

at least one bus within said articulated arm for transmitting at least one of power and data signals to said laser scanner, said laser scanner including circuitry communicating with said at least one bus.

25. The CMM of claim 24 including:

a handle extending from said rotatable probe.

26. The CMM of claim 24 wherein said probe and said laser scanner are simultaneously accessable for taking measurement.

27. The CMM of claim 24 wherein said first end of said arm includes three degrees of freedom and wherein one of said three degrees of freedom is a rotation axis for rotating said laser scanner.

28. The CMM of claim 24 wherein said CMM includes three additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-1-3 configuration.

29. The CMM of claim 27 wherein said CMM includes four additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-2-3 configuration.

30. The CMM of claim 24 wherein said bus comprises a serial communications bus and wherein said laser scanner is connected to said bus.

31. The CMM of claim 30 wherein said serial communications is RS-485 type.

32. The CMM of claim 24 wherein:

said laser scanner is detachably mounted onto said probe.

33. The CMM of claim 32 including:

a kinematic mount for detachably mounting said scanner to said probe.

34. The CMM of claim 24 wherein said rotatable probe includes a housing and wherein:

said laser scanner is positioned within said probe housing.

35. The CMM of claim 24 wherein said laser scanner includes a scanner housing for housing a laser and a camera, said housing being mounted to said probe.

36. The CMM of claim 35 wherein said scanner housing is permanently mounted to said probe.

37. The CMM of claim 35 wherein said scanner housing is detachably mounted to said probe.

38. The CMM of claim 35 wherein at least said laser and camera are mounted on a low CTE frame.

39. The CMM of claim 38 wherein said low CTE frame comprise a steel/nickel alloy.

40. The CMM of claim 39 wherein said steel/nickel alloy comprises Invar.

41. The CMM of claim 24 wherein said laser scanner further includes:

a digital interface communicating with said camera;

a digital signal processor (DSP) communicating with said digital interface for processing images from said scanner;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

42. The CMM of claim 41 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

43. The CMM of claim 42 wherein:

said high speed data communications interface uses a Firewire data format.

44. The CMM of claim 24 wherein said bus transmits both power and data signals.

45. The CMM of claim 24 wherein said arm includes circuitry for simultaneously transmitting data from said transducers and from said laser scanner to a host computer.

54. The CMM of claim 41 wherein said rotatable probe includes a housing and wherein:

said laser scanner is positioned within said probe housing.

46. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a rotatable probe at said first end of said arm;

a laser scanner associated with said probe, said laser scanner being rotatable together with said probe, said laser scanner including a laser, a camera and on-board image processing circuitry;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the probe in a selected volume;

at least one bus within said articulated arm for transmitting power and data signals to said laser line scanner, said laser scanner including circuitry communicating with said at least one bus;

and wherein said on-board image processing circuitry comprises;

a digital interface communicating with said camera;

a digital signal processor (DSP) communicating with said digital interface for processing images from said scanner;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

47. The CMM of claim 46 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

48. The CMM of claim 47 wherein:

said high speed data communications interface uses a Firewire data format.

49. The CMM of claim 46 including:

a handle extending from said rotatable probe.

50. The CMM of claim 46 wherein said probe and said laser scanner are simultaneously accessable for taking measurement.

51. The CMM of claim 46 wherein said first end of said arm includes three degrees of freedom and wherein one of said three degrees of freedom is a rotation axis for rotating said laser scanner.

52. The CMM of claim 46 wherein:

said laser scanner is detachably mounted onto said probe.

53. The CMM of claim 52 including:

a kinematic mount for detachably mounting said scanner to said probe.

55. The CMM of claim 46 wherein said laser scanner includes a scanner housing for housing a laser and a camera, said housing being mounted to said probe.

56. The CMM of claim 55 wherein said scanner housing is permanently mounted to said probe.

57. The CMM of claim 55 wherein said scanner housing is detachably mounted to said probe.

58. The CMM of claim 55 wherein at least said laser and camera are mounted on a low CTE frame.

59. The CMM of claim 58 wherein said low CTE frame comprise a steel/nickel alloy.

60. A line laser scanner comprising:

a housing having an exterior;

a laser in said housing and communicating with the exterior of said housing;

a camera in said housing and communicating with the exterior of said housing;

a digital interface communicating with said camera;

a digital signal processor (DSP) for digitally processing images from said camera, said DSP communicating with said digital interface;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

61. The scanner of claim 60 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

62. The scanner of claim 61 wherein:

said high speed data communications interface uses a Firewire data format.

63. The scanner of claim 60 wherein at least said laser and camera are mounted on a low CTE frame.

64. The scanner of claim 63 wherein said low CTE frame comprise a steel/nickel alloy.

65. The scanner of claim 64 wherein said steel/nickel alloy comprises Invar.

66. The scanner of claim 60 including:

a kinematic mount for detachably mounting said scanner to said probe.