Position-marking method for a machine that measures in three dimensions, and apparatus for implementing the method

• US 5,528,505 A
• Filed: 09/19/1994
• Issued: 06/18/1996
• Est. Priority Date: 09/20/1993
• Status: Expired due to Term

• Current Assignee: Hexagon Metrology Incorporated (Hexagon AB)
• Original Assignee: Romer Incorporated (Hexagon AB)
• Inventors: Eaton, Homer, Granger, Romain
• Primary Examiner(s): Gordon, Paul P.
• Application Number:
  US08/308,304
• Time in Patent Office: 638 Days
• Field of Search: 364/167.01, 364/474.03, 364/474.05, 364/474.37, 364/474.28, 318/568.16, 318/577, 901/9, 901/15, 901/46, 395/80, 395/86, 395/93, 395/94, 395/97
• US Class Current: 700/195
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G01B 21/04 by measuring coordinates of points

Abstract

The contact sensor of the hinged arm of a measurement machine for taking measurements in three dimensions is replaced by a light sensor secured at the same position. A first position-marking axis defined by a light beam emitted by an emitter disposed in a first position is used to determine a first vector by two measured points. The emitter is moved in a plane so as to take up a second position, and a second position-marking axis defined by the light beam of said emitter is used by measuring a point on the second axis. The projection [O₁ ] of the second axis point onto the first position-marking axis is then used to enable a frame of reference [O₁ X, O₁ Y, O₁ Z] to be established. If the machine needs to be displaced in order to take measurements in a zone that is further away, a new frame of reference is determined using the same steps, using the same first axis and using a new point on another second axis that is obtained by a new displacement of the emitter performed so that it remains in the same plane, thereby enabling the origin [O₂ ] of the new frame of reference to be determined, thus making it possible to make available a plurality of known frames of reference.

Claims

1. A position-marking method for a measurement machine that measures in three dimensions and that is constituted by a support and a deformable arm in the form of hinged arm segments, with a contact sensor mounted at the end of the last hinged arm segment to measure the shape and/or the position of an object, said method using a computer to determine the coordinates of the contact sensor for any position of the hinged arm segments, the method comprising the following steps performed without displacing the support of the machine:

the contact sensor is replaced with a light sensor secured at the same position;

use is made of a first position-marking axis as defined by a light beam emitted by an emitter disposed in a first position, by measuring two points on said first axis with the light sensor thereby defining a first vector;

the emitter is displaced in a plane so as to take up a second position in such a manner that the light beam it emits is coplanar and not parallel to the light beam emitted in the first position; and

use is made of a second position-marking axis defined by the light beam emitted by the emitter when disposed in said second position, by measuring a point on said second axis, and by determining a projection of said point of said second axis on the first position-marking axis, thereby defining a second vector, said projection being selected as the origin of a frame of reference having three leading vectors which are constituted by said first and second vectors and by a third vector which is the result of a vector product of the second and first vectors;

and wherein a determined displacement of the support of the machine for the purpose of taking measurements in a zone that is further away requires a new frame of reference to be determined using the same steps, using the same first axis or another first axis at a known angle to said first axis, and using a new point on another second axis obtained by a new displacement of the emitter performed to keep it in the same plane, so as to determine the origin of the new frame of reference, thereby making it possible to make available a plurality of known frames of references.

2. A method according to claim 1, in which the support of the machine is displaced in or in the vicinity of a fixed plane, wherein the emitter is displaced by pivoting about a fixed axis which is perpendicular to said fixed plane.

3. A method according to claim 2, wherein use is made of a second emitter secured relative to the fixed axis carrying the first emitter, and the same steps are performed with said second emitter which is therefore displaced in a plane that is parallel to the displacement plane of the first emitter.

4. Apparatus for implementing the method of claim 2, comprising at least one emitter mounted to pivot about a fixed axis which is perpendicular to the plane in which the light beam associated with each emitter is displaced, together with a light sensor replacing the contact sensor of the arm of the measurement machine and secured in the same position as said contact sensor.

5. A method according to claim 1, wherein the magnitude of the displacement of the machine support is determined by means of a linear measurement member such as a flat strip or an elongate bar having reference marks at known distances, said linear measurement member extending along a direction that is close to the direction of the first position-marking axis.

6. A method according to claim 1, wherein the magnitude of the displacement of the machine support is determined by means of pre-established reference marks associated with fixing or fastening the support of the machine on a fixed unit.

7. A method according to claim 1, wherein, after a reference frame has been determined, the emitter is repositioned in such a manner as to enable it to be displaced in another plane that is not parallel to the first plane used, and another frame of reference is determined using the same steps, optionally together with another new frame of reference following determined displacement of the support of the machine in order to take measurements in a zone that is further away in the direction of said other plane.

8. A method according to claim 7, wherein the other plane is perpendicular to the first plane used.

9. A method according to claim 1, in which the support of the machine is displaced in or in the vicinity of a fixed plane, wherein the emitter is displaced by sliding over a fixed support surface belonging to a reference block, said surface being parallel to said fixed plane.

10. A method according to claim 9, wherein the emitter is repositioned by being pressed against two fixed support surfaces that are mutually perpendicular and perpendicular to the first fixed support surface used, said surfaces belonging to a reference block whose rectified faces are in known orientations.

11. Apparatus for implementing the method of claim 9, comprising a reference block whose rectified faces are in known orientations and serve as fixed support surfaces for an emitter capable of being displaced by sliding over one of said surfaces, together with a light sensor replacing the contact sensor of the arm of the measurement machine and secured at the same position as the contact sensor.