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

• US 5,786,602 A
• Filed: 06/05/1995
• Issued: 07/28/1998
• Est. Priority Date: 04/30/1979
• Status: Expired due to Term

• Current Assignee: Diffracto, Ltd. (LMI Technologies Inc.)
• Original Assignee: Sensor Adaptive Machines, Inc.
• Inventors: Pryor, Timothy R., Hockley, Bernard, Liptay-Wagner, Nick, Hageniers, Omer L., Pastorius, W. J.
• Primary Examiner(s): Westin, Edward P.
• Assistant Examiner(s): Lee, John R.
• Application Number:
  US08/465,656
• Time in Patent Office: 1,149 Days
• Field of Search: 250/208.1, 250/559.07, 250/559.08, 250/559.29, 250/559.3, 250/559.31, 250/559.33, 250/559.35, 250/559.37, 250/559.4, 356/3.01, 356/3.02, 356/3.03, 356/3.06, 356/3.07, 356/3.1, 356/3.12, 356/4.01, 901/47, 901/46, 901/9
• US Class Current: 250/559.33
• 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 robotic system for determining a dimension of an object, comprising:

non-contact sensor means for sensing a characteristic of said object and for providing data related to said characteristic,

robot means having at least 4 axes of positional movement for positioning said sensor means relative to said object,

control means for controlling said movement of said robot means to position said sensor means relative to said object, and

means for analyzing data from said sensor means to determine a dimension of said object.

2. Apparatus according to claim 1 wherein said sensor is an electro-optical sensor.

3. Apparatus according to claim 1 including further means to combine robot position and sensor data.

4. Apparatus according to claim 1 including further means to rotate said object about an axis.

5. Apparatus according to claim 1 including means to compare said object characteristic to a stored value.

6. Apparatus according to claim 1 including means for storing said determined characteristic and/or said sensor data.

7. Apparatus according to claim 1 including means for comparing said determined characteristic and/or said sensor data to predetermined values.

8. Apparatus according to claim 1 including information means to provide said control means design information concerning said object.

9. Apparatus according to claim 2 including optical range sensing means.

10. Apparatus according to claim 9 wherein said range sensor utilizes a laser diode.

11. Apparatus according to claim 9 wherein said range sensor utilizes a photodetector array.

12. Apparatus according to claim 1 wherein said sensor includes a TV camera.

13. Apparatus according to claim 1 further including means for display of the output of said sensor.

14. Apparatus according to claim 2 wherein said sensor determines characteristics of object features.

15. Apparatus according to claim 2 wherein said sensor determines edge locations of said object.

16. A method for determining a dimension of an object comprising the steps of:

providing non-contact sensor means for sensing a characteristic of an object,

providing a robot means having at least 4 degrees of positional movement for positioning said sensor means relative to said object,

controlling said robot means to position said sensor means with respect to said object,

using said sensor means, sensing a characteristic of said object and providing data related to said characteristic,

analyzing said data from said sensor to determine a dimension of said object.