Portable coordinate measurement machine with integrated line laser scanner

• US 7,050,930 B2
• Filed: 05/31/2005
• Issued: 05/23/2006
• Est. Priority Date: 02/14/2002
• Status: Expired due to Term

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Helm, C. Andrew, Raab, Simon, Sajedi, Seyed Ali, Hobden, Randy
• Primary Examiner(s): Bui, Bryan
• Application Number:
  US11/141,444
• Publication Number:
  US 20050222803A1
• Time in Patent Office: 357 Days
• Field of Search: 702/150, 702/151, 702/152, 702/155, 702/159, 356/4.02, 356/5.01, 335/03, 335/06, 335/59, 335/61, 382/279, 382/266, 382/299, 358/486, 358/412, 700/56, 700/59, 700/61
• US Class Current: 702/152
• CPC Class Codes: B23Q 35/04 using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
• CPC Class Codes: B25J 17/025 mounted in series
• CPC Class Codes: B25J 19/0016 using springs
• CPC Class Codes: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: B25J 9/0012 making use of synthetic construction materials, e.g. plastics, composites
• CPC Class Codes: B25J 9/023 Cartesian coordinate type
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: G01B 11/005 coordinate measuring machines
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 21/045 Correction of measurements G01B9/02055 takes precedence
• CPC Class Codes: G01B 5/004 for measuring coordinates of points
• CPC Class Codes: G01B 5/008 using coordinate measuring machines
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: Y10S 33/01 Magnetic

Abstract

A portable coordinate measurement machine comprises an articulated arm having jointed arm segments. The arm includes a measurement probe having an integrated line laser scanner rotatably mounted thereon.

Claims

1. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a laser scanner at said first end of said arm;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the first end of said arm in a selected volume;

at least one internally positioned bus within said articulated arm for internally transmitting at least one of power and data signals to said laser scanner, said laser scanner including circuitry communicating with said at least one bus.

2. The CMM of claim 1 including:

a handle extending from said first end of said arm.

3. The CMM of claim 1 wherein said first end of said arm includes three degrees of freedom and wherein one of said three degrees of freedom is a rotation axis for rotating said laser scanner.

4. The CMM of claim 3 wherein said CMM includes three additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-1-3 configuration.

5. The CMM of claim 3 wherein said CMM includes four additional degrees of freedom such that said jointed arm segments have degrees of freedom in a 2-2-3 configuration.

6. The CMM of claim 1 wherein said at least one bus comprises a serial communications bus and wherein said laser scanner is connected to said bus.

7. The CMM of claim 6 wherein said serial communications bus is RS-485 type.

8. The CMM of claim 1 wherein:

said laser scanner is detachably mounted onto said first end of said arm.

9. The CMM of claim 8 including:

a kinematic mount for detachably mounting said scanner to said first end of said arm.

10. The CMM of claim 1 wherein said laser scanner includes a scanner housing for housing a laser and a camera, said housing being mounted to said first end of said arm.

11. The CMM of claim 10 wherein said scanner housing is permanently mounted to said first end of said arm.

12. The CMM of claim 10 wherein said scanner housing is detachably mounted to said first end of said arm.

13. The CMM of claim 10 wherein at least said laser and camera are mounted on a low CTE frame.

14. The CMM of claim 13 wherein said low CTE frame comprise a steel/nickel alloy.

15. The CMM of claim 14 wherein said steel/nickel alloy comprises Invar.

16. The CMM of claim 1 wherein said laser scanner further includes:

a digital interface communicating with said camera;

a digital signal processor (DSP) communicating with said digital interface for processing images from said scanner;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

17. The CMM of claim 16 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

18. The CMM of claim 17 wherein:

said high speed data communications interface uses a Firewire data format.

19. The CMM of claim 1 wherein said at least one bus transmits both power and data signals.

20. The CMM of claim 1 wherein said arm includes circuitry for simultaneously transmitting data from said transducers and from said laser scanner to a host computer.

21. The CMM of claim 1 wherein said laser scanner includes on-board image processing circuitry which converts image data to dimensional data.

22. The CMM of claim 21 wherein said dimensional data is transferred using said at least one bus.

23. The CMM of claim 16 wherein said DSP includes on-board image processing circuitry which converts image data to dimensional data.

24. The CMM of claim 1 wherein said laser scanner includes on-board image processing circuitry which generates processed data, such processed data being in an amount which is smaller than the amount of data associated with the original data derived from the image received from said camera.

25. The CMM of claim 21 wherein said laser scanner includes on-board image processing circuitry which generates processed data, such processed data being in an amount which is smaller than the amount of data associated with the original data derived from the image received from said camera.

26. The CMM of claim 23 wherein said laser scanner includes on-board image processing circuitry which generates processed data, such processed data being in an amount which is smaller than the amount of data associated with the original data derived from the image received from said camera.

27. A portable coordinate measurement machine (CMM) for measuring the position of an object in a selected volume, comprising:

a manually positionable articulated arm having opposed first and second ends, said arm including a plurality of jointed arm segments, each arm segment including at least one position transducer for producing a position signal;

a laser scanner at said first end of said arms, said laser scanner including a laser, a camera and on-board image processing circuitry;

an electronic circuit which receives the position signals from the transducers and provides a digital coordinate corresponding to the position of the first end of the arm in a selected volume;

at least one bus internally positioned within said articulated arm for internally transmitting power and data signals to said laser line scanner, said laser scanner including circuitry communicating with said at least one bus;

and wherein said on-board image processing circuitry comprises;

a digital interface communicating with said camera;

a digital signal processor (DSP) communicating with said digital interface for processing images from said scanner and converting image data to dimensional data, said DSP further generating processed data, such processed data being in an amount which is smaller than the amount of data associated with the original data derived from the image received from the camera;

a memory communicating with said DSP; and

a communications processor communicating with said DSP.

28. The CMM of claim 27 wherein said digital interface comprises:

a high speed data communications interface for communicating between said camera and said digital interface.

29. The CMM of claim 28 wherein:

said high speed data communications interface uses a Firewire data format.

30. The CMM of claim 27 including:

a handle extending from said first end of said arm.

31. The CMM of claim 27 wherein said first end of said arm includes three degrees of freedom and wherein one of said three degrees of freedom is a rotation axis for rotating said laser scanner.

32. The CMM of claim 27 wherein:

said laser scanner is detachably mounted onto said first end of said arm.

33. The CMM of claim 32 including:

a kinematic mount for detachably mounting said scanner to said first end of said arm.

34. The CMM of claim 27 wherein said laser scanner includes a scanner housing for housing a laser and a camera, said housing being mounted to said first end of said arm.

35. The CMM of claim 34 wherein said scanner housing is permanently mounted to said probe.

36. The CMM of claim 34 wherein said scanner housing is detachably mounted to said probe.

37. The CMM of claim 34 wherein at least said laser and camera are mounted on a low CTE frame.

38. The CMM of claim 37 wherein said low CTE frame comprise a steel/nickel alloy.