Robot-based gauging system for determining three-dimensional measurement data
First Claim
1. An apparatus for determining three-dimensional measurement data for the surface of an object, comprising:
- a movable member;
a controller for causing said movable member to move in relation to the surface of the object;
a non-contact sensor disposed on said movable member for collecting image data representative of a portion of the surface of the object;
a position reporting device for reporting position data representative of the position of said non-contact sensor;
a timing signal generator for periodically generating and transmitting a synch signal, said position reporting device electrically connected to said timing signal generator and reporting position data in response to each of said synch signals, and said non-contact sensor being electrically connected to said timing signal generator and collecting image data in response to each of said synch signals; and
a data processor adapted to retrieve image data from said non-contact sensor and position data from said position reporting device, and being operable to synchronize the image data with the position data, thereby generating a three-dimensional representation of the object.
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Abstract
A robot-based gauging system is provided for determining three-dimensional measurement data of the surface of an object. The robot-based gauging system includes a robot having at least one movable member and a robot controller for controlling the movement of the movable member in relation to the surface of an object. A non-contact sensor is coupled to the movable member of the robot for capturing image data representative of the surface of the object. A position reporting device reports position data representative of the position of the non-contact sensor. A synch signal generator for generating and transmitting a synch signal is electrically connected to each of the non-contact sensor and the position reporting device, such that the non-contact sensor reports image data in response to the synch signal and the position reporting device reports position data in response to the synch signal. The robot-based gauging system further includes a vision system adapted to retrieve image data from the non-contact sensor and position data from the position reporting device, whereby the vision system synchronizes the image data with the position data in order to determine three-dimensional measurement data for the object.
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Citations
19 Claims
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1. An apparatus for determining three-dimensional measurement data for the surface of an object, comprising:
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a movable member; a controller for causing said movable member to move in relation to the surface of the object; a non-contact sensor disposed on said movable member for collecting image data representative of a portion of the surface of the object; a position reporting device for reporting position data representative of the position of said non-contact sensor; a timing signal generator for periodically generating and transmitting a synch signal, said position reporting device electrically connected to said timing signal generator and reporting position data in response to each of said synch signals, and said non-contact sensor being electrically connected to said timing signal generator and collecting image data in response to each of said synch signals; and a data processor adapted to retrieve image data from said non-contact sensor and position data from said position reporting device, and being operable to synchronize the image data with the position data, thereby generating a three-dimensional representation of the object. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robot-based gauging system for determining three-dimensional measurement data of an object with respect to a reference frame, the gauging system of the type having a non-contact sensor mounted to a movable member of a robot for movement of the sensor relative to the object, comprising:
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a robot controller for controlling the movement of the movable member and reporting position data representative of the position of said movable member; a timing signal generator electrically connected to said robot controller for periodically generating and transmitting a synch signal, said robot controller reporting a set of said position data in response to each of said synch signals, thereby generating a plurality of position data sets; a non-contact sensor coupled to the movable member of the robot for capturing image data of the object, said non-contact sensor being electrically connected to said timing signal generator and responsive to each of said synch signals for capturing a set of image data representative of a portion of said object, thereby generating a corresponding plurality of image data sets representative of a plurality of portions of the object; and a vision system adapted to retrieve said plurality of image data sets from said non-contact sensor and to synchronize each image data set with a corresponding position data set, thereby generating a three-dimensional representation of the object. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A robot-based gauging system for determining three-dimensional measurement data of an object with respect to a reference frame, the gauging system of the type having a non-contact sensor mounted to a movable member of a robot for movement of the sensor relative to the object, comprising:
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a robot controller for controlling the movement of the movable member in relation to the object; a timing signal generator for periodically generating and transmitting a synch signal; a non-contact sensor coupled to the movable member of the robot for capturing image data of the object, said non-contact sensor being electrically connected to said timing signal generator and responsive to each of said synch signals for capturing a set of image data representative of a portion of said object, thereby generating a plurality of image data sets representative of a plurality of portions of the object; a photogrammetric measurement system for reporting position data representative of the position of said non-contact sensor by having a calibration field of observation and being positionable at vantage point such that said non-contact sensor is within the calibration field, said photogrammetric measurement system electrically connects to said timing signal generator and reporting a set of position data in response to each of said synch signals, thereby generating a plurality of position data sets; and a vision system adapted to retrieve said plurality of image data sets from said non-contact sensor and to synchronize each image data set with a corresponding position data set, thereby generating a three-dimensional representation of the object. - View Dependent Claims (16, 17, 18, 19)
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Specification