Metrology device and a method for compensating for bearing runout error

• US 9,423,282 B2
• Filed: 06/03/2015
• Issued: 08/23/2016
• Est. Priority Date: 06/12/2014
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Moy, Eric J.
• Primary Examiner(s): GUADALUPE, YARITZA
• Application Number:
  US14/729,151
• Publication Number:
  US 20150362348A1
• Time in Patent Office: 447 Days
• Field of Search: 335/03
• US Class Current: 1/1
• CPC Class Codes: F16C 2370/00 Apparatus relating to physics, e.g. instruments in general G01 - G12
• CPC Class Codes: F16C 41/007 Encoders, e.g. parts with a plurality of alternating magnetic poles
• CPC Class Codes: G01D 18/001 Calibrating encoders
• CPC Class Codes: G01D 18/008 with calibration coefficients stored in memory
• CPC Class Codes: G01D 5/3473 Circular or rotary encoders

Abstract

A system and method for determining the angular position of a bearing assembly and compensating measurements for bearing runout error in metrology devices, such as an articulated arm coordinate measurement device and a laser tracker, is provided. The system and method includes measuring the bearing runout error and defining a waveform from encoder readings for a first set of rotations. In one embodiment, a transfer function is created based on an analysis of the bearing runout error, such as with a Fourier analysis for example. In another embodiment the bearing runout error is mapped to an absolute angular position. During operation, the angular position of the bearing assembly is determined by comparing a waveform to the waveform from the first set of rotations. With the angular position determined, the bearing runout error may be used to compensate the measurements of the metrology device.

Claims

1. A method of determining an angular rotation position of a metrology device, the method comprising:

providing an encoder coupled to at least one bearing, the encoder having at least a first read head and a second read head, the encoder configured to measure in operation an angular rotation of the at least one bearing;

rotating the at least one bearing for a predetermined number of rotations;

generating a first signal with the first read head and a second signal with the second read head in response to the rotation of the at least one bearing;

defining a first waveform by subtracting the first signal from the second signal;

perform a Fourier analysis on the first waveform to define a series of sinusoidal waves for the predetermined number of rotations;

generating with a processor circuit operably coupled to the metrology device a transfer function of bearing runout based on the series of sinusoidal waves as a function of absolute angular position of the at least one bearing; and

storing, in a memory of the processor circuit, the first waveform and the transfer function.

2. The method of claim 1 further comprising:

coupling the at least one bearing to the metrology device;

powering the metrology device to a powered-on state;

rotating the at least one bearing for a second predetermined number of rotations;

measuring a third signal from the first read head and a fourth signal from the second read head while the at least one bearing is rotating for the second predetermined number of rotations;

defining a second waveform by subtracting the third signal from the fourth signal;

determining a signal delay of the second waveform with respect to the first waveform; and

determining an angular position of the at least one bearing from the signal delay.

3. The method of claim 2 further comprising:

determining a bearing error for the at least one bearing based at least in part on the determined angular position and the transfer function;

making a measurement with the metrology device; and

compensating the measurement based at least in part on the determined bearing error.

4. The method of claim 3 further comprising defining an absolute zero position, wherein the angular position is relative to the absolute zero position.

5. The method of claim 3 wherein the signal delay is estimated using Fourier Transforms.

6. The method of claim 3 further comprising determining a first sinusoidal waveform by subtracting a first read head signal from the first read head with a second read head signal from the second read head.

7. The method of claim 6 further comprising adjusting an alignment of the first read head and the second read head to an axis of rotation of the at least one bearing and determining a second sinusoidal waveform by subtracting a third read head signal from the first read head and a fourth read head signal from the second read head, the second sinusoidal waveform having a smaller amplitude than the first sinusoidal waveform.

8. The method of claim 3 wherein the metrology device is an articulated arm coordinate measurement machine.

9. The method of claim 3 wherein the metrology device is a laser tracker.

10. A method of determining an angular rotation position of a metrology device, the method comprising:

providing the metrology device having a manually positionable articulated arm portion having opposed first end and second end, the arm portion including a plurality of connected arm segments, wherein the plurality of connected arm segments includes a first arm segment and a second arm segment, the metrology device further having a processor circuit having a memory;

providing an encoder coupled to at least one bearing, the encoder and the at least one bearing configured to couple between the first arm segment and the second arm segment, the encoder having at least a first read head and a second read head, the encoder configured to measure in operation an angular rotation of the at least one bearing, wherein the encoder is configured to transmit a signal to the processor circuit;

rotating the at least one bearing for a predetermined number of rotations;

generating a first signal with the first read head and a second signal with the second read head in response to the rotation of the at least one bearing;

defining a first waveform by subtracting the first signal from the second signal;

perform a Fourier analysis on the first waveform to define a series of sinusoidal waves for the predetermined number of rotations;

generate a transfer function based on the series of sinusoidal waves as a function of absolute angular position; and

storing, in the memory, the first waveform and the transfer function.

11. The method of claim 10 further comprising:

coupling the at least one bearing to the first arm segment and the second arm segment;

powering the metrology device to a powered-on state;

rotating one of the first arm segment or the second arm segment and the at least one bearing for a second predetermined number of rotations;

measuring a third signal from the first read head and a fourth signal from the second read head while the at least one bearing is rotating for the second predetermined number of rotations;

defining a second waveform by subtracting the third signal from the fourth signal;

determining a signal delay of the second waveform with respect to the first waveform; and

determining an angular position of the at least one bearing from the signal delay.

12. The method of claim 11 further comprising:

determining a bearing error for the at least one bearing based at least in part on the determined angular position and the transfer function;

determining, with the processor circuit, three-dimensional coordinates of at least one point on a surface of an object with the metrology device; and

changing with the processor circuit the three-dimensional coordinates based at least in part on the determined bearing error.

13. The method of claim 12 further comprising defining an absolute zero position, wherein the angular position is relative to the absolute zero position.

14. The method of claim 12 wherein the signal delay is estimated using Fourier Transforms.

15. A method of determining an angular rotation position of a metrology device, the method comprising:

providing a laser tracker having a structure configured to rotate about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, and a processor circuit having memory;

providing an encoder coupled to at least one bearing, the encoder and the at least one bearing configured to couple to the laser tracker and rotate the structure about the first axis, the encoder having at least a first read head and a second read head, the encoder configured to measure in operation an angular rotation of the at least one bearing, wherein the encoder is configured to transmit a signal to the processor circuit;

rotating the at least one bearing for a predetermined number of rotations;

generating a first signal with the first read head and a second signal with the second read head in response to the rotation of the at least one bearing;

defining a first waveform by subtracting the first signal from the second signal;

perform a Fourier analysis on the first waveform to define a series of sinusoidal waves for the predetermined number of rotations;

generate a transfer function based on the series of sinusoidal waves as a function of absolute angular position; and

storing, in the memory, the first waveform and the transfer function.

16. The method of claim 15 further comprising:

coupling the at least one bearing to the structure;

powering the laser tracker to a powered-on state;

rotating one of the structure and the at least one bearing about the first axis for a second predetermined number of rotations;

measuring a third signal from the first read head and a fourth signal from the second read head while the at least one bearing is rotating for the second predetermined number of rotations;

defining a second waveform by subtracting the third signal from the fourth signal;

determining a signal delay of the second waveform with respect to the first waveform; and

determining an angular position of the at least one bearing from the signal delay.

17. The method of claim 16 further comprising:

determining a bearing error for the at least one bearing based at least in part on the determined angular position and the transfer function;

determining, with the processor circuit, three-dimensional coordinates of at least one point on a surface of an object with the laser tracker; and

changing with the processor circuit the three-dimensional coordinates based at least in part on the determined bearing error.

18. The method of claim 17 further comprising defining an absolute zero position, wherein the angular position is relative to the absolute zero position.

19. The method of claim 17 wherein the signal delay is estimated using Fourier Transforms.