Three-dimensional edge profile determination

• US 9,417,047 B2
• Filed: 08/11/2014
• Issued: 08/16/2016
• Est. Priority Date: 08/11/2014
• Status: Active Grant

• Current Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Gowen, Kenneth T.
• Primary Examiner(s): FULTON, CHRISTOPHER W
• Application Number:
  US14/455,979
• Publication Number:
  US 20160040972A1
• Time in Patent Office: 736 Days
• Field of Search: 335/44, 335/03
• US Class Current: 1/1
• CPC Class Codes: G01B 5/20 for measuring contours or curvatures
• CPC Class Codes: G01B 7/28 for measuring contours or curvatures
• CPC Class Codes: G01B 7/281 for measuring contour or curvature along an axis, e.g. axial curvature of a pipeline or along a series of feeder rollers

Abstract

Systems and methods for determining a three-dimensional profile of an edge of an object are presented. The edge is defined by adjoining first and second surfaces. A first set of surface points can be detected on the first surface, and a second set of surface points can be detected on the second surface. The second set of surface points can correspond to the first set of surface points. A sensor, such as a contact sensor, can be used to detect the first and second set of surface points. Based on the detected first and second set of surface points, a profile of the edge can be determined automatically, such as by a processor operatively connected to the sensor. In this way, the profile of the edge can be determined without direct detection of the edge.

Claims

1. A method of determining a three-dimensional profile of an edge of an object, the object including a first surface and a second surface, the first surface adjoining the second surface to define the edge, the method comprising:

detecting a first set of surface points on the first surface;

detecting a second set of surface points on the second surface, the second set of surface points corresponding to the first set of surface points; and

based on the detected first and second set of surface points, automatically determining a profile of the edge without direct detection of the edge.

2. The method of claim 1, wherein automatically determining a profile of the edge includes automatically determining the profile of the edge in real-time.

3. The method of claim 1, wherein detecting the first set of surface points on the first surface includes predicting where the first set of surface points will be on the first surface and wherein detecting the second set of surface points on the second surface includes predicting where the second set of surface points will be on the second surface.

4. The method of claim 3, further including:

receiving a first surface pitch corresponding to an intended spacing between the first set of surface points on the first surface; and

wherein predicting where the first set of surface points will be on the first surface is at least partially based on the received first surface pitch.

5. The method according to claim 4, further including:

receiving an adjustment distance corresponding to an intended distance from the edge; and

wherein predicting where the first set of surface points will be on the first surface is also at least partially based on the received adjustment distance.

6. The method of claim 4, further including:

receiving a second surface pitch corresponding to an intended spacing between the second set of surface points on the second surface;

wherein predicting where the second set of surface points will be on the second surface is at least partially based on the received second surface pitch.

7. The method of claim 6, wherein the first surface pitch is different than the second surface pitch.

8. The method according to claim 6, wherein predicting where the first set of surface points will be on the first surface and predicting where the second set of surface points will be on the second surface are also at least partially based on the determined profile of the edge.

9. A method of automatically determining a measurement path for an edge of an object, the object including a first surface and a second surface, the first surface adjoining the second surface to define the edge, the method comprising:

detecting a first set of surface points on the first surface;

detecting a second set of surface points on the second surface, the second set of surface points corresponding to the first set of surface points; and

automatically predicting where a future point will be along a profile of the edge at least partially based on one or more previously detected points of the first and second set of surface points,

wherein predicting where the future point will be along a profile of the edge occurs without a pre-programmed measurement path.

10. The method of claim 9, further including:

receiving an adjustment distance corresponding to an intended distance from the predicted future point in relation to the profile of the edge;

wherein predicting where the future point will be along the profile of the edge is further based on the adjustment distance.

11. The method of claim 10, further including receiving a surface pitch corresponding to an intended spacing between the first set of surface points on the first surface, wherein predicting where the future point will be along the profile of the edge is further based on the received surface pitch.

12. The method of claim 9, wherein automatically predicting where the future point will be along the profile of the edge includes automatically predicting where the future point will be along the profile of the edge in real-time.

13. A system for determining a three-dimensional profile of an edge of an object, the object including a first surface and a second surface, the first surface adjoining the second surface to define the edge, the system comprising:

a sensor configured to detect a first set of surface points on the first surface and a second set of surface points on the second surface; and

a processor operatively connected to the sensor, the processor being configured to;

determine the first set of surface points on the first surface based on the sensor detecting the first set of surface points;

determine the second set of surface points on the second surface based on the sensor detecting the second set of surface points, the second set of surface points corresponding to the first set of surface points; and

based on the determined first and second set of surface points, automatically determine a profile of the edge without direct detection of the edge by the system.

14. The system of claim 13, wherein the processor is further configured to automatically determine the profile of the edge in real-time.

15. The system of claim 13, wherein the processor is further configured to predict where the first set of surface points will be on the first surface and where the second set of surface points will be on the second surface.

16. The system of claim 15, further including:

an input device operatively connected to the processor, wherein the input device is configured to receive a first surface pitch corresponding to an intended spacing between the first set of surface points on the first surface; and

wherein the processor is further configured to predict where the first set of surface points will be on the first surface at least partially based on the received first surface pitch.

17. The system of claim 16, wherein the input device is further configured to receive an adjustment distance corresponding to an intended distance from the edge;

and

wherein the processor is further configured to predict where the first set of surface points will be on the first surface at least partially based on the received adjustment distance.

18. The system of claim 16, wherein the input device is further configured to receive a second surface pitch corresponding to an intended spacing between the second set of surface points on the second surface;

and

wherein the processor is further configured to predict where the second set of surface points will be on the second surface at least partially based on the received second surface pitch.

19. The system of claim 15, wherein the processor is further configured to predict where the first set of surface points will be on the first surface and to predict where the second set of surface points will be on the second surface at least partially based on previous determination of at least some of the first set of surface points and based on previous determination of at least some of the second set of surface points.

20. The system of claim 13, wherein the sensor is a contact sensor such that the sensor is configured to detect the first set of surface points on the first surface and the second set of surface points on the second surface through direct physical contact respectively with the first and second surfaces.