Method and apparatus for electro-optically determining the dimension, location and attitude of objects

• US 4,373,804 A
• Filed: 04/30/1979
• Issued: 02/15/1983
• Est. Priority Date: 04/30/1979
• Status: Expired due to Term

• Current Assignee: Sensor Adaptive Machines, Inc.
• Original Assignee: Diffracto, Ltd. (LMI Technologies Inc.)
• Inventors: Pryor, Timothy R., Pastorius, W. J., Hockley, Bernard, Hageniers, Omer L., Liptay-Wagner, Nick
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US06/034,278
• Time in Patent Office: 1,387 Days
• Field of Search: 356/1, 356/4, 356/376, 356/377
• US Class Current: 356/3.07
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/2416 of gears optical projection profile comparators G01B9/08
• CPC Class Codes: G01B 11/245 using a plurality of fixed, simultaneously operating transducers G01B11/2408 - G01B11/2425, G01B11/255 take precedence
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/481 Constructional features, e.g. arrangements of optical elements
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/491 Details of non-pulse systems

Abstract

A method and apparatus for optically determining the dimension of part surfaces. Particular embodiments describe optical triangulation based coordinate measurement machines capable of accurate measurement of complex surfaces, such as gear teeth and turbine blades. Other embodiments provide highly useful sensors for robot guidance and related purposes. Up to 5 axis sensing capability is provided on surfaces of widely varying form.

Claims

1. A method for determining the dimension, location or attitude of an object surface, comprising projecting a zone of light onto the surface of said object, said zone comprising at least two bright portions with at least one dark portion therebetween,

forming an image of said zone on said surface onto a photodiode array with lens means whose axis is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween;

determining from the position of the dark portion of said image on said array relative to said lens axis the location of said surface illuminated by said zone, and

determining from said location of said surface the location, attitude or dimension of said object.

2. A method according to claim 1, wherein said zone of light is provided by a laser operating in the TEM₀₁ or higher mode.

3. A method according to claim 1 wherein said position of said image comprises said dark portion.

4. A method for determining the dimension, location, or attitude of an object surface, said object being in motion, comprising projecting onto the surface of said object a zone of light,

forming an image of said zone on said surface onto a photodiode array with a lens system whose axis is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a short time interval sufficient to effectively freeze the image on said array,

scanning said photodiode array between successive light projection intervals,

determining from the position of said image on said diode array the location of said surface illuminated by said zone, and

determining from said location of said surface the location, attitude, or dimension of said object.

5. A method according to claim 4 wherein said object comprises a gear.

6. A method according to claim 5 wherein said gear is rotated about its axis and wherein said pulse of light is initiated by a gear position sensor.

7. A method according to claim 6 wherein said gear portion sensor comprises a rotational encoder connected to said gear.

8. A method according to claim 6 wherein said gear position sensor comprises means for detecting the presence of a gear tooth surface.

9. A method according to claim 5 wherein a plurality of said zones of light are projected onto a surface of a single gear tooth and wherein the images of said zones are formed on at least one diode array.

10. A method according to claim 9 wherein the positions of said images on said at least one diode array are compared to determine the involute form or lead of said gear tooth.

11. A method according to claim 4 wherein said time interval is controlled as a function of the light energy reflected from said surface.

12. A method according to claim 4 wherein the output of the diode array is momentarily stored in a temporary memory means.

13. A method for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement,

forming an image of said zones on said surface onto at least one photodiode array with a lens means whose axis is angularly spaced from the axis of said projected light, and

determining from the separation of said image on said diode array the angular tilt of said surface, relative to said plane of measurement.

14. A method according to claim 13 wherein four zones in a rectilinear pattern are projected, wherein said diode array comprises a matrix array, and wherein said angular tilt of said surface is determined by comparing image separation in two planes.

15. A method according to claim 13 further comprising determining the location of said object surface from the position of one or more of said images on said diode array.

16. A method according to claim 13 wherein a second lens and diode array are placed at an equal and opposite angular spacing from said axis of said projection of said zones, whereby, when said surface is normal to the projected light, the separation of said images on said first and second diode arrays is equal.

17. A method for determining the dimension, location, or attitude of an object surface, comprising:

projecting a zone of light onto a surface of an object;

forming an image of said zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface;

determining the position of said image on said photodiode array;

determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light;

utilizing a broad light source to illuminate said surface;

forming an image of said object surface on a two axis scanning array means; and

determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

18. A method according to claim 17 wherein said two axes scanning array means comprises a matrix photodiode array.

19. A method according to claim 18 wherein said matrix array comprises said photodiode array.

20. A method according to claim 18 wherein said matrix array and photodiode array are distinct.

21. A method according to claim 17 further comprising illuminating the surface of said object to facilitate forming said surface image.

22. A method according to claim 17 further comprising analyzing said surface image to determine a physical characteristic of said surface.

23. A method according to claim 17 further comprising analyzing said surface image to determine the location of a portion thereof and determining the location of said zone of light relative to said surface image portion.

24. A method according to claim 18 wherein said projected light is flashed.

25. A method according to claim 18 wherein said zone is a spot.

26. A method according to claim 17 further comprising illuminating said surface for forming said surface image, and wherein said projection of said light and illumination of said surface are effected sequentially.

27. A method according to claim 18 further comprising projecting an additional zone of light into said object surface, forming an image of said additional zone of light onto a photodiode array with lens means having an optical axis angularly spaced from the axis of the projected light, and determining, from the locations of the photodiode array images, the attitude of the object surface.

28. A method according to claim 18 wherein said light zone is projected from a light source, and wherein said light source, lens means and photodiode array are mounted on a robot arm.

29. Apparatus for determining the dimension, location, or attitude of an object surface, comprising means for projecting onto the surface of said object a zone of light, said zone comprised of at least two bright portions with at least one dark portion therebetween,

a photodiode array,

lens means for forming an image of said zone on said surface onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of said projected light, said image comprising said two bright portions and said dark portion therebetween,

means for determining from the position of the dark portion of said image on said diode array relative to said lens axis, the location of said surface illuminated by said zone, and

means for determining from said location of said surface the location, attitude or dimension of said object.

30. Apparatus according to claim 29, wherein said projecting means comprises a laser operating in the TEM₀₁ or higher mode.

31. Apparatus according to claim 29 wherein said image position determining means comprises means for determining the position of said dark portion of said image.

32. Apparatus for determining dimension, location, or attitude of an object surface, comprising:

means for projecting a zone of light onto the surface of an object;

a photodiode array;

means for moving said object;

lens means for forming an image of said zone onto said photodiode array, said lens means having an optical axis which is angularly spaced from the axis of the projected light, said projection of said light zone being provided within a time interval sufficiently short to effectively freeze the image on said array during relative motion thereof;

means for scanning said photodiode array between successive light projection intervals;

means for determining from the position of said image on said diode array the location of said surface illuminated by said zone; and

means for determining from said location of said surface the location, attitude, or dimension of said object.

33. Apparatus according to claim 32 wherein said object comprises a gear.

34. Apparatus according to claim 33 further comprising means for rotating said gear about its axis and gear position sensor means for initiating said projection of light.

35. Apparatus according to claim 34 wherein said gear position sensor comprises a rotational encoder connected to said gear.

36. Apparatus according to claim 34 wherein said gear position sensor comprises means for detecting the presence of a gear tooth surface.

37. Apparatus according to claim 33 further comprising means for projecting a plurality of said zones of light onto a surface of a single gear tooth and means for forming the images of said zones on at least one diode array.

38. Apparatus according to claim 37 further comprising means for comparing the positions of said images on said at least one diode array to determine the involute form or lead of said gear tooth.

39. Apparatus according to claim 32 further comprising means for controlling said time interval as a function of the light energy reflected from said surface.

40. Apparatus according to claim 32 further comprising temporary memory means for momentarily storing the output of the diode array.

41. Apparatus for determining the angular tilt of an object surface which is inclined relative to a plane of measurement, comprising:

means for projecting onto the surface of said object at least two zones of light, the direction of light projection being normal to a plane of measurement,

lens means for forming an image of said zones on said surface onto at least one photodiode array, said lens means having an axis which is angularly spaced from the axis of said projected light, and

means for determining from the separation of said images on said diode array the angular tilt of said surface relative to said plane of measurement.

42. Apparatus according to claim 41 wherein said light zone projecting means comprises means for projecting four light zones in a rectilinear pattern, wherein said diode array comprises a matrix array, and said surface angular tilt determining means comprises means for comparing image separation in two planes.

43. Apparatus according to claim 41 further comprising means for determining the location of said object surface from the position of one or more of said images on said diode array.

44. Apparatus according to claim 41 further comprising a second lens and diode array placed at an equal and opposite angular spacing from said axis of said projection of said zones, whereby, when said surface is normal to the projected light, the separation of said images on said first and second diode arrays is equal.

45. Apparatus for determining the dimension, location or attitude of an object surface, comprising:

means for projecting a zone of light onto a surface of an object;

lens means for forming an image of said zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface;

means for determining the position of said image on said photodiode array;

means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light;

means comprising a broad light source to illuminate said surface;

means for forming an image of said object surface on a two axis scanning array means; and

means for determining from the location of said surface and from the image on said two axis scanning array means, the dimension, location, or attitude of said object surface.

46. Apparatus according to claim 45 wherein said two axis scanning array means comprises a matrix photodiode array.

47. Apparatus according to claim 45 wherein said matrix array comprises said photodiode array.

48. Apparatus according to claim 45 wherein said matrix array and photodiode array are distinct.

49. Apparatus according to claim 45 further comprising means for illuminating the surface of said object to facilitate forming said surface image.

50. Apparatus according to claim 45 further comprising means for analyzing said surface image to determine a physical characteristic of said surface.

51. Apparatus according to claim 45 further comprising means for analyzing said surface image to determine the location of a portion thereof and means for determining the location of said zone of light relative to said surface image portion.

52. Apparatus according to claim 45 wherein said light projecting means comprises means for flashing said projected light.

53. Apparatus according to claim 45 wherein said zone is a spot.

54. Apparatus according to claim 47 further comprising means for illuminating said surface for forming said surface image, and means for sequentially projecting said light and illuminating said surface.

55. Apparatus according to claim 45 further comprising means for projecting an additional zone of light onto said object surface, means for forming an image of said additional zone of light onto a photodiode array with lens means having an optical axis angularly spaced from the axis of the projected light, and means for determining, from the locations of the photodiode array images, the attitude of the object surface.

56. Apparatus according to claim 45 wherein said light projecting means, said lens means and said photodiode array are mounted on a robot arm.

57. A method for determining the dimension, location, or attitude of an object surface, comprising:

projecting a pulsed zone of light onto a surface of an object;

forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface,

storing the output of said diode array in temporary delay means;

amplifying said stored diode array output, and controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone;

determining, from the amplified stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses;

determining from the position of said image on said array the location of said surface illuminated by said zone of light; and

determining from said location of said surface, the dimension location, or attitude of said object.

58. A method for determining the dimension, location, or attitude of an object surface, comprising:

projecting a pulsed zone of light onto a surface of an object;

forming an image of said pulsed zone of light on a photodiode array with lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface,

storing the output of said diode array in temporary delay means;

applying a threshold voltage to said stored diode array output, and controlling said voltage in dependence upon the amount of light reflected from said zone;

determining, from the stored array outputs, the position of said image on said photodiode array, said determination being effected in the interval between successive light pulses;

determining from the position of said image on said array the location of said surface illuminated by said zone of light; and

determining from said location of said surface, the dimension, location, or attitude of said object.

59. A method according to claim 58 further comprising controlling the light pulse length in dependence upon the amount of light reflected from said zone.

60. Apparatus for determining the dimension, location or attitude of an object surface, comprising:

means for projecting a pulsed zone of light onto a surface of an object;

lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location of said object surface,

means for storing the output of said diode array in temporary delay means,

means for amplifying said stored diode array output, and means for controlling the amplification of said stored output in inverse proportion to the light energy reflected from said zone;

means for determining, in the interval between successive pulses of light, from the amplified stored diode array output, the position of said image on said photodiode array;

means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and

means for determining from said location of said surface, the dimension, location, or attitude of said object.

61. Apparatus for determining the dimension, location or attitude of an object surface, comprising:

means for projecting a pulsed zone of light onto a surface of an object;

lens means for forming an image of said pulsed zone of light on a photodiode array, said lens means having an optical axis which is angularly spaced from the optical axis of the projected light, said image being sufficiently small such that it is not incident upon all of the photodiodes in said array whereby the position on said photodiode array on which said image is formed is dependent upon the location on said object surface,

means for storing the output of said diode array in temporary delay means,

means for applying a threshold voltage in dependence upon the amount of light reflected from said zone;

means for determining, in the interval between successive pulses of light, from the stored diode array output, the position of said image on said photodiode array;

means for determining from the position of said image on said photodiode array the location of said surface illuminated by said zone of light; and

means for determining from said location of said surface, the dimension, location, or attitude of said object.

62. A method according to claim 61 further comprising means for controlling the light pulse length in dependence upon the amount of light reflected from said zone.