U.S. patent application number 13/006524 was filed with the patent office on 2011-07-21 for multi-functional coordinate measurement machines.
This patent application is currently assigned to FARO TECHNOLOGIES, INC.. Invention is credited to Paul C. Atwell, Clark H. Briggs.
Application Number | 20110178765 13/006524 |
Document ID | / |
Family ID | 43736091 |
Filed Date | 2011-07-21 |
United States Patent
Application |
20110178765 |
Kind Code |
A1 |
Atwell; Paul C. ; et
al. |
July 21, 2011 |
MULTI-FUNCTIONAL COORDINATE MEASUREMENT MACHINES
Abstract
A portable articulated arm coordinate measuring machine (AACMM)
includes a manually positionable arm portion having opposed first
and second ends, the arm portion including connected arm segments,
each arm segment including at least one position transducer for
producing a position signal, a measurement device attached to a
first end of the AACMM, and an electronic circuit which receives
the position signals from the transducers and provides data
corresponding to a position of the measurement device. Implementing
the portable AACMM includes identifying a source device from which
data is received by determining a transmission path through which
the data is transmitted, the source device removably attached to
the first end of the AACMM, determining a data type of the data
based upon identification of the source device, performing an
action on the data responsive to the data type, and outputting
results of performing the action to a destination device.
Inventors: |
Atwell; Paul C.; (Lake Mary,
FL) ; Briggs; Clark H.; (DeLand, FL) |
Assignee: |
FARO TECHNOLOGIES, INC.
Lake Mary
FL
|
Family ID: |
43736091 |
Appl. No.: |
13/006524 |
Filed: |
January 14, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61296555 |
Jan 20, 2010 |
|
|
|
Current U.S.
Class: |
702/152 |
Current CPC
Class: |
G05B 2219/37193
20130101; G05B 2219/40233 20130101; G05B 2219/45061 20130101; G01B
5/012 20130101; G05B 19/406 20130101; G05B 19/401 20130101; G01B
11/007 20130101; G05B 2219/40596 20130101; G05B 2219/24067
20130101; G01B 21/047 20130101 |
Class at
Publication: |
702/152 |
International
Class: |
G01B 5/008 20060101
G01B005/008; G06F 15/00 20060101 G06F015/00 |
Claims
1. A method of implementing a portable articulated arm coordinate
measuring machine (AACMM) having interchangeable accessories, the
method comprising: providing a portable AACMM comprised of a
manually positionable arm portion having opposed first and second
ends, the arm portion including a plurality of connected arm
segments, each arm segment including at least one position
transducer for producing a position signal, a measurement device
attached to a first end of the AACMM, and an electronic circuit
which receives the position signals from the transducers and
provides data corresponding to a position of the measurement
device; identifying a source device from which data is received by
determining a transmission path through which the data is
transmitted, the source device removably attached to the first end
of the AACMM via a coupler; determining a data type of the data
based upon at least an identification of the source device;
performing an action on the data responsive to the data type; and
outputting results of performing the action to a destination
device.
2. The method of claim 1, wherein the transmission path includes a
wireless communication path and a wired communication path.
3. The method of claim 2, wherein the wireless communication path
comprises at least one of: a cellular network; a global positioning
system network; and a short-range communications network.
4. The method of claim 1, wherein data types include at least one
of: metrology data; positional data; image data; and radio
frequency identification-based data.
5. The method of claim 1, wherein the action performed includes
converting raw measurement data to coordinate data.
6. The method of claim 1, wherein the destination device includes
at least one of a user interface display onboard the AACMM and a
remote computer processor.
7. The method of claim 1, wherein the source device comprises at
least one of a: laser line probe; radio frequency identification
scanner; digital camera; a projection device; thermal scanning
device; and painting device.
8. A portable articulated arm coordinate measuring machine (AACMM)
having interchangeable accessories, the portable AACMM comprising:
a manually positionable arm portion having opposed first and second
ends, the arm portion including a plurality of connected arm
segments, each of the arm segments including at least one position
transducer for producing a position signal; a measurement device
attached to a first end of the AACMM; an electronic circuit for
receiving the position signals from the transducers and for
providing data corresponding to a position of the measurement
device; a source device removably attached to the first end of the
portable AACMM via a coupler, the source device configured for
capturing data; and logic executable by the electronic circuit,
wherein the logic identifies the source device from which the data
is received by determining a transmission path through which the
data is transmitted, determines a data type of the data based upon
at least an identification of the source device, performs an action
on the data responsive to the data type, and outputs results of
performing the action to a destination device.
9. The portable AACMM of claim 8, the transmission path includes a
wireless communication path and a wired communication path.
10. The portable AACMM of claim 9, wherein the wireless
communication path comprises at least one of: a cellular network; a
global positioning system network; and a short-range communications
network.
11. The portable AACMM of claim 8, wherein data types include at
least one of: metrology data; positional data; image data; and
radio frequency identification-based data.
12. The portable AACMM of claim 8, wherein the action performed
includes converting raw measurement data to coordinate data.
13. The portable AACMM of claim 8, wherein the destination device
includes at least one of a user interface display onboard the AACMM
and a remote computer processor.
14. The portable AACMM of claim 8, wherein the source device
comprises at least one of a: laser line probe; radio frequency
identification scanner; digital camera; a projection device;
thermal scanning device; and painting device.
15. A computer program product for implementing a portable
articulated arm coordinate measuring machine (AACMM), the computer
program product comprising a computer storage medium having
computer-readable program code embodied thereon, which when
executed by a computer causes the computer to implement a method,
the method comprising: identifying a source device from which data
is received by determining a transmission path through which the
data is transmitted, the source device removably attached to a
first end of the AACMM; determining a data type of the data based
upon at least an identification of the source device; performing an
action on the data responsive to the data type; and outputting
results of performing the action to a destination device.
16. The computer program product of claim 15, wherein the
transmission path includes a wireless communication path and a
wired communication path.
17. The computer program product of claim 16, wherein the wireless
communication path comprises at least one of: a cellular network; a
global positioning system network; and a short-range communications
network.
18. The computer program product of claim 15, wherein data types
include at least one of: metrology data; positional data; image
data; and radio frequency identification-based data.
19. The computer program product of claim 15, wherein the action
performed includes converting raw measurement data to coordinate
data.
20. The computer program product of claim 15, wherein the
destination device includes at least one of a user interface
display onboard the AACMM and a remote computer processor.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims the benefit of provisional
application No. 61/296,555 filed Jan. 20, 2010, the content of
which is hereby incorporated by reference in its entirety.
BACKGROUND
[0002] The present disclosure relates to a coordinate measuring
machine, and more particularly to a portable articulated arm
coordinate measuring machine having a connector on a probe end of
the coordinate measuring machine that allows accessory devices to
be removably connected to the coordinate measuring machine.
[0003] Portable articulated arm coordinate measuring machines
(AACMMs) have found widespread use in the manufacturing or
production of parts where there is a need to rapidly and accurately
verify the dimensions of the part during various stages of the
manufacturing or production (e.g., machining) of the part. Portable
AACMMs represent a vast improvement over known stationary or fixed,
cost-intensive and relatively difficult to use measurement
installations, particularly in the amount of time it takes to
perform dimensional measurements of relatively complex parts.
Typically, a user of a portable AACMM simply guides a probe along
the surface of the part or object to be measured. The measurement
data are then recorded and provided to the user. In some cases, the
data are provided to the user in visual form, for example,
three-dimensional (3-D) form on a computer screen. In other cases,
the data are provided to the user in numeric form, for example when
measuring the diameter of a hole, the text "Diameter=1.0034" is
displayed on a computer screen.
[0004] An example of a prior art portable articulated arm CMM is
disclosed in commonly assigned U.S. Pat. No. 5,402,582 (582), which
is incorporated herein by reference in its entirety. The '582
patent discloses a 3-D measuring system comprised of a
manually-operated articulated arm CMM having a support base on one
end and a measurement probe at the other end. Commonly assigned
U.S. Pat. No. 5,611,147 ('147), which is incorporated herein by
reference in its entirety, discloses a similar articulated arm CMM.
In the '147 patent, the articulated arm CMM includes a number of
features including an additional rotational axis at the probe end,
thereby providing for an arm with either a two-two-two or a
two-two-three axis configuration (the latter case being a seven
axis arm).
[0005] While existing CMM's are suitable for their intended
purposes, what is needed is a portable AACMM that allows accessory
devices to be removably connected to the coordinate measuring
machine.
SUMMARY OF THE INVENTION
[0006] An embodiment is a method of implementing a portable
articulated arm coordinate measuring machine (AACMM) having
interchangeable accessories. The portable AACMM includes a manually
positionable arm portion having opposed first and second ends, the
arm portion including a number of connected arm segments, each arm
segment including at least one position transducer for producing a
position signal, a measurement device attached to a first end of
the AACMM, and an electronic circuit which receives the position
signals from the transducers and provides data corresponding to a
position of the measurement device. Implementing the portable AACMM
includes identifying a source device from which data is received by
determining a transmission path through which the data is
transmitted, the source device removably attached to the first end
of the AACMM via a coupler. Implementing the portable AACMM also
includes determining a data type of the data based upon at least an
identification of the source device. The source device is removably
attached to the AACMM. Implementing the portable AACMM also
includes performing an action on the data responsive to the data
type, and outputting results of performing the action to a
destination device.
[0007] Another embodiment is a portable articulated arm coordinate
measuring machine (AACMM) having interchangeable accessories. The
portable AACMM includes a manually positionable arm portion having
opposed first and second ends, the arm portion including a
plurality of connected arm segments, each of the arm segments
including at least one position transducer for producing a position
signal. The portable AACMM also includes a measurement device
attached to a first end of the AACMM, an electronic circuit for
receiving the position signals from the transducers and for
providing data corresponding to a position of the measurement
device, a source device removably attached to the first end of the
portable AACMM via a coupler, the source device configured to
capture data, and logic executable by the electronic circuit,
wherein the logic identifies the source device from which the data
is received by determining a transmission path through which the
data is transmitted. The logic further determines a data type of
the data based upon at least an identification of the source
device, performs an action on the data responsive to the data type,
and outputs results of performing the action to a destination
device.
[0008] A further embodiment is a computer program product for
implementing a portable articulated arm coordinate measuring
machine (AACMM), the computer program product including a computer
storage medium having computer-readable program code embodied
thereon, which when executed by a computer causes the computer to
implement a method. The method includes identifying a source device
from which data is received by determining a transmission path
through which the data is transmitted. The source device is
removably attached to the AACMM. The method also includes
determining a data type of the data based upon at least an
identification of the source device, performing an action on the
data responsive to the data type, and outputting results of
performing the action to a destination device.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] Referring now to the drawings, exemplary embodiments are
shown which should not be construed to be limiting regarding the
entire scope of the disclosure, and wherein the elements are
numbered alike in several FIGURES:
[0010] FIG. 1, including FIGS. 1A and 1B, are perspective views of
a portable articulated arm coordinate measuring machine (AACMM)
having embodiments of various aspects of the present invention
therewithin;
[0011] FIG. 2, including FIGS. 2A-2D taken together, is a block
diagram of electronics utilized as part of the AACMM of FIG. 1 in
accordance with an embodiment;
[0012] FIG. 3, including FIGS. 3A and 3B taken together, is a block
diagram describing detailed features of the electronic data
processing system of FIG. 2 in accordance with an embodiment;
[0013] FIG. 4 is an isometric view of the probe end of the AACMM of
FIG. 1 with a laser line probe device attached in accordance with
an embodiment;
[0014] FIG. 5 is an isometric view partially in section of the
laser line probe device of FIG. 4 in accordance with an
embodiment;
[0015] FIG. 6 is an isometric view of the probe end of the AACMM of
FIG. 1 with another removable device attached in accordance with an
embodiment;
[0016] FIG. 7 is an isometric view of the probe end of the AACMM of
FIG. 1 with a paint spray device attached in accordance with an
embodiment;
[0017] FIG. 8, including FIG. 8-FIG. 8C are views of a projected
image that is may be adjusted to remain aligned with a part feature
as a function of the arm position and orientation, in accordance
with an embodiment of the present invention;
[0018] FIG. 9, including FIGS. 9A-9B are views of a surface of a
part with an image projected thereon, where the projected image
contains probe guidance and status information;
[0019] FIG. 10 is a perspective view of an AACMM with two
projectors mounted onto a probe end and a third projector mounted
on another portion of the AACMM;
[0020] FIG. 11 is a perspective view of another AACMM with two
projectors mounted onto a probe end;
[0021] FIG. 12 is a perspective view of an AACMM with a projector
mounted onto a probe end, where the projector projects an image
onto a surface of a part, where the projected image contains hidden
features behind the surface of the part; and
[0022] FIG. 13 is a flow diagram describing a process for
implementing the AACMM with removal accessories in accordance with
an embodiment.
DETAILED DESCRIPTION
[0023] Portable articulated arm coordinate measuring machines
(AACMMs) are used in a variety of applications to obtain
measurements of objects. Embodiments of the present invention
provide advantages in allowing an operator to easily and quickly
couple different measurement accessory devices to a probe end of
the AACMM. Embodiments of the present invention provide further
advantages in providing for integrating some level of control of
the probe end with the accessory device. Embodiments of the present
invention provide still further advantages in providing power and
data communications to a removable accessory without having
external connections or wiring.
[0024] FIGS. 1A and 1B illustrate, in perspective, a portable
articulated arm coordinate measuring machine (AACMM) 100 according
to various embodiments of the present invention, an articulated arm
being one type of coordinate measuring machine. As shown in FIGS.
1A and 1B, the exemplary AACMM 100 may comprise a six or seven axis
articulated measurement device having a measurement probe housing
102 coupled to an arm portion 104 of the AACMM 100 at one end. The
arm portion 104 comprises a first arm segment 106 coupled to a
second arm segment 108 by a first grouping of bearing cartridges
110 (e.g., two bearing cartridges). A second grouping of bearing
cartridges 112 (e.g., two bearing cartridges) couples the second
arm segment 108 to the measurement probe housing 102. A third
grouping of bearing cartridges 114 (e.g., three bearing cartridges)
couples the first arm segment 106 to a base 116 located at the
other end of the arm portion 104 of the AACMM 100. Each grouping of
bearing cartridges 110, 112, 114 provides for multiple axes of
articulated movement. Also, the measurement probe housing 102 may
comprise the shaft of the seventh axis portion of the AACMM 100
(e.g., a cartridge containing an encoder system that determines
movement of the measurement device, for example a probe 118 and/or
a peripheral device, in the seventh axis of the AACMM 100). In use
of the AACMM 100, the base 116 is typically affixed to a work
surface.
[0025] Each bearing cartridge within each bearing cartridge
grouping 110, 112, 114 typically contains an encoder system (e.g.,
an optical encoder system). The encoder system (i.e., transducer)
provides an indication of the position of the respective arm
segments 106, 108 and corresponding bearing cartridge groupings
110, 112, 114, that all together provide an indication of the
position of the probe 118 with respect to the base 116 (and, thus,
the position of the object being measured by the AACMM 100 in a
certain frame of reference--for example a local or global frame of
reference). The arm segments 106, 108 may be made from a suitably
rigid material such as but not limited to a carbon composite
material for example. A portable AACMM 100 with six or seven axes
of articulated movement (i.e., degrees of freedom) provides
advantages in allowing the operator to position the probe 118 in a
desired location within a 360.degree. area about the base 116 while
providing an arm portion 104 that may be easily handled by the
operator. However, it should be appreciated that the illustration
of an arm portion 104 having two arm segments 106, 108 is for
exemplary purposes, and the claimed invention should not be so
limited. An AACMM 100 may have any number of arm segments coupled
together by bearing cartridges (and, thus, more or less than six or
seven axes of articulated movement or degrees of freedom).
[0026] The probe 118 is detachably mounted to the measurement probe
housing 102, which is connected to bearing cartridge grouping 112.
A handle 126 is removable with respect to the measurement probe
housing 102 by way of, for example, a quick-connect interface. The
handle 126 may be replaced with another device (e.g., a laser line
probe, a bar code reader), thereby providing advantages in allowing
the operator to use different measurement devices with the same
AACMM 100. In exemplary embodiments, the probe housing 102 houses a
removable probe 118, which is a contacting measurement device and
may have different tips 118 that physically contact the object to
be measured, including, but not limited to: ball, touch-sensitive,
curved and extension type probes. In other embodiments, the
measurement is performed, for example, by a non-contacting device
such as a laser line probe (LLP). In an embodiment, the handle 126
is replaced with the LLP using the quick-connect interface. Other
types of measurement devices may replace the removable handle 126
to provide additional functionality. Examples of such measurement
devices include, but are not limited to, one or more illumination
lights, a temperature sensor, a thermal scanner, a bar code
scanner, a projector, a paint sprayer, a camera, or the like.
[0027] As shown in FIGS. 1A and 1B, the AACMM 100 includes the
removable handle 126 that provides advantages in allowing
accessories or functionality to be changed without removing the
measurement probe housing 102 from the bearing cartridge grouping
112. As discussed in more detail below with respect to FIG. 2, the
removable handle 126 may also include an electrical connector that
allows electrical power and data to be exchanged with the handle
126 and the corresponding electronics located in the probe end.
[0028] In various embodiments, each grouping of bearing cartridges
110, 112, 114 allows the arm portion 104 of the AACMM 100 to move
about multiple axes of rotation. As mentioned, each bearing
cartridge grouping 110, 112, 114 includes corresponding encoder
systems, such as optical angular encoders for example, that are
each arranged coaxially with the corresponding axis of rotation of,
e.g., the arm segments 106, 108. The optical encoder system detects
rotational (swivel) or transverse (hinge) movement of, e.g., each
one of the arm segments 106, 108 about the corresponding axis and
transmits a signal to an electronic data processing system within
the AACMM 100 as described in more detail herein below. Each
individual raw encoder count is sent separately to the electronic
data processing system as a signal where it is further processed
into measurement data. No position calculator separate from the
AACMM 100 itself (e.g., a serial box) is required, as disclosed in
commonly assigned U.S. Pat. No. 5,402,582 ('582).
[0029] The base 116 may include an attachment device or mounting
device 120. The mounting device 120 allows the AACMM 100 to be
removably mounted to a desired location, such as an inspection
table, a machining center, a wall or the floor for example. In one
embodiment, the base 116 includes a handle portion 122 that
provides a convenient location for the operator to hold the base
116 as the AACMM 100 is being moved. In one embodiment, the base
116 further includes a movable cover portion 124 that folds down to
reveal a user interface, such as a display screen.
[0030] In accordance with an embodiment, the base 116 of the
portable AACMM 100 contains or houses an electronic data processing
system that includes two primary components: a base processing
system that processes the data from the various encoder systems
within the AACMM 100 as well as data representing other arm
parameters to support three-dimensional (3-D) positional
calculations; and a user interface processing system that includes
an on-board operating system, a touch screen display, and resident
application software that allows for relatively complete metrology
functions to be implemented within the AACMM 100 without the need
for connection to an external computer.
[0031] The electronic data processing system in the base 116 may
communicate with the encoder systems, sensors, and other peripheral
hardware located away from the base 116 (e.g., a LLP that can be
mounted to the removable handle 126 on the AACMM 100). The
electronics that support these peripheral hardware devices or
features may be located in each of the bearing cartridge groupings
110, 112, 114 located within the portable AACMM 100.
[0032] FIG. 2 is a block diagram of electronics utilized in an
AACMM 100 in accordance with an embodiment. The embodiment shown in
FIG. 2 includes an electronic data processing system 210 including
a base processor board 204 for implementing the base processing
system, a user interface board 202, a base power board 206 for
providing power, a Bluetooth module 232, and a base tilt board 208.
The user interface board 202 includes a computer processor for
executing application software to perform user interface, display,
and other functions described herein.
[0033] As shown in FIG. 2, the electronic data processing system
210 is in communication with the aforementioned plurality of
encoder systems via one or more arm buses 218. In the embodiment
depicted in FIG. 2, each encoder system generates encoder data and
includes: an encoder arm bus interface 214, an encoder digital
signal processor (DSP) 216, an encoder read head interface 234, and
a temperature sensor 212. Other devices, such as strain sensors,
may be attached to the arm bus 218.
[0034] Also shown in FIG. 2 are probe end electronics 230 that are
in communication with the arm bus 218. The probe end electronics
230 include a probe end DSP 228, a temperature sensor 212, a
handle/LLP interface bus 240 that connects with the handle 126 or
the LLP 242 via the quick-connect interface in an embodiment, and a
probe interface 226. The quick-connect interface allows access by
the handle 126 to the data bus, control lines, and power bus used
by the LLP 242 and other accessories. In an embodiment, the probe
end electronics 230 are located in the measurement probe housing
102 on the AACMM 100. In an embodiment, the handle 126 may be
removed from the quick-connect interface and measurement may be
performed by the laser line probe (LLP) 242 communicating with the
probe end electronics 230 of the AACMM 100 via the handle/LLP
interface bus 240. In an embodiment, the electronic data processing
system 210 is located in the base 116 of the AACMM 100, the probe
end electronics 230 are located in the measurement probe housing
102 of the AACMM 100, and the encoder systems are located in the
bearing cartridge groupings 110, 112, 114. The probe interface 226
may connect with the probe end DSP 228 by any suitable
communications protocol, including commercially-available products
from Maxim Integrated Products, Inc. that embody the 1-wire.RTM.
communications protocol 236.
[0035] FIG. 3 is a block diagram describing detailed features of
the electronic data processing system 210 of the AACMM 100 in
accordance with an embodiment. In an embodiment, the electronic
data processing system 210 is located in the base 116 of the AACMM
100 and includes the base processor board 204, the user interface
board 202, a base power board 206, a Bluetooth module 232, and a
base tilt module 208.
[0036] In an embodiment shown in FIG. 3, the base processor board
204 includes the various functional blocks illustrated therein. For
example, a base processor function 302 is utilized to support the
collection of measurement data from the AACMM 100 and receives raw
arm data (e.g., encoder system data) via the arm bus 218 and a bus
control module function 308. The memory function 304 stores
programs and static arm configuration data. The base processor
board 204 also includes an external hardware option port function
310 for communicating with any external hardware devices or
accessories such as an LLP 242. A real time clock (RTC) and log
306, a battery pack interface (IF) 316, and a diagnostic port 318
are also included in the functionality in an embodiment of the base
processor board 204 depicted in FIG. 3.
[0037] The base processor board 204 also manages all the wired and
wireless data communication with external (host computer) and
internal (display processor 202) devices. The base processor board
204 has the capability of communicating with an Ethernet network
via an Ethernet function 320 (e.g., using a clock synchronization
standard such as Institute of Electrical and Electronics Engineers
(IEEE) 1588), with a wireless local area network (WLAN) via a LAN
function 322, and with Bluetooth module 232 via a parallel to
serial communications (PSC) function 314. The base processor board
204 also includes a connection to a universal serial bus (USB)
device 312.
[0038] The base processor board 204 transmits and collects raw
measurement data (e.g., encoder system counts, temperature
readings) for processing into measurement data without the need for
any preprocessing, such as disclosed in the serial box of the
aforementioned '582 patent. The base processor 204 sends the
processed data to the display processor 328 on the user interface
board 202 via an RS485 interface (IF) 326. In an embodiment, the
base processor 204 also sends the raw measurement data to an
external computer.
[0039] Turning now to the user interface board 202 in FIG. 3, the
angle and positional data received by the base processor is
utilized by applications executing on the display processor 328 to
provide an autonomous metrology system within the AACMM 100.
Applications may be executed on the display processor 328 to
support functions such as, but not limited to: measurement of
features, guidance and training graphics, remote diagnostics,
temperature corrections, control of various operational features,
connection to various networks, and display of measured objects.
Along with the display processor 328 and a liquid crystal display
(LCD) 338 (e.g., a touch screen LCD) user interface, the user
interface board 202 includes several interface options including a
secure digital (SD) card interface 330, a memory 332, a USB Host
interface 334, a diagnostic port 336, a camera port 340, an
audio/video interface 342, a dial-up/cell modem 344 and a global
positioning system (GPS) port 346.
[0040] The electronic data processing system 210 shown in FIG. 3
also includes a base power board 206 with an environmental recorder
362 for recording environmental data. The base power board 206 also
provides power to the electronic data processing system 210 using
an AC/DC converter 358 and a battery charger control 360. The base
power board 206 communicates with the base processor board 204
using inter-integrated circuit (12C) serial single ended bus 354 as
well as via a DMA serial peripheral interface (DSPI) 356. The base
power board 206 is connected to a tilt sensor and radio frequency
identification (RFID) module 208 via an input/output (I/O)
expansion function 364 implemented in the base power board 206.
[0041] Though shown as separate components, in other embodiments
all or a subset of the components may be physically located in
different locations and/or functions combined in different manners
than that shown in FIG. 3. For example, in one embodiment, the base
processor board 204 and the user interface board 202 are combined
into one physical board.
[0042] Turning now to FIGS. 4-7, exemplary embodiments of a
measurement probe housing 102 are shown with a quick-connect
mechanical and electrical interface that allows removable and
interchangeable devices to couple with AACMM 100. The exemplary
embodiments of the present invention provide advantages to camera,
signal processing, control and indicator interfaces for devices,
such as a laser line probe (LLP) scanning device 400.
[0043] The device 400 includes an enclosure 402 that includes a
handle portion 404 that is sized and shaped to be held in an
operator's hand, such as in a pistol grip for example. One end of
the device 400 includes a mechanical and electrical interface 426.
The interface 426 includes a mechanical coupler 532 and an
electrical connector 534 coupled thereto. The interface 426
provides for a relatively quick and secure electronic connection
between the device 400 and the probe housing 102 without the need
to align connector pins, and without the need for separate cables
or connectors.
[0044] Adjacent the interface 426, the enclosure 402 includes a
portion 506 that includes an optical device 408, such as a laser
device, and a sensor 410. The sensor 410 may be a charged-coupled
device (CCD) type sensor or a complementary
metal-oxide-semiconductor (CMOS) type sensor for example. In the
exemplary embodiment, the optical device 408 and sensor 410 are
arranged at an angle such that the sensor 410 may detect reflected
light from the optical device 408 at a desired focal point. In one
embodiment, the focal point of the optical device 408 and the
sensor 410 is offset from the probe tip 118 such that the device
400 may be operated without interference from the probe tip 118. In
other words, the device 400 may be operated with the probe tip 118
in place. Further, it should be appreciated that the device 400 is
substantially fixed relative to the probe tip 118, and forces on
the handle portion 404 may not influence the alignment of the
device 400 relative to the probe tip 118. In one embodiment, the
device 400 may have an additional actuator (not shown) that allows
the operator to switch between acquiring data from the device 400
and the probe tip 118.
[0045] The optical device 408 and sensor 410 are electrically
coupled to a controller 512 disposed within the enclosure 402. The
controller 512 may include one or more microprocessors, digital
signal processors, memory and signal conditioning circuits. Due to
the digital signal processing and large data volume generated by
the device 400, the controller 512 is relatively large and may be
arranged within the handle portion 404. The controller 512 is
electrically coupled to the arm buses 218 via electrical connector
534. The device 400 further includes actuators 514, 516 which may
be manually activated by the operator to initiate operation and
data capture by the device 400.
[0046] In other embodiments of the present invention, a device 600
(FIG. 6) coupled to the AACMM 100 may include a functional device
602. Depending on the type of device 600, the functional device 602
may be a still camera, a video camera, a bar-code scanner, thermal
scanner, a light source (e.g. a flashlight), or an image projector.
In one embodiment, the functional device 602 may include a
retroreflector holder such as that described in commonly-assigned
U.S. Pat. No. 7,804,602 entitled "Apparatus and Method for
Relocating an Articulating-Arm Coordinate Measuring Machine" which
is incorporated herein in its entirety. In yet another embodiment,
the functional device 602 may include an ultrasonic probe such as
that described in commonly-owned U.S. Pat. No. 5,412,880 entitled
"Method of Constructing a 3-Dimensional Map of a Measurable
Quantity Using Three Dimensional Coordinate Measuring Apparatus"
which is incorporated by reference herein in its entirety. The
device 600 includes an interface 426 allowing a device to be
electrically and mechanically coupled to the probe housing 102.
Device 600 further includes a controller electrically connected to
the functional device 602. The controller is arranged in
asynchronous bi-directional communication with the electronic data
processing system 210. The bidirectional communication connection
may be wired (e.g. via arm bus 218), wireless (e.g. Bluetooth or
IEEE 802.11). In one embodiment, the communications connection is a
combination of wired and wireless connections wherein a first
signal type is transmitted via a wired connection via controller
420 and a second signal type is transmitted via a wireless
connection. In an embodiment wherein the functional device 602
includes multiple functions such as an image projector and a laser
line probe, The image (e.g. CAD) data may be sent via a wireless
connection to the image projector while the data acquired by the
LLP image sensor is sent via a wired connection. It should be
appreciated that the integration of these devices may provide
advantages in allowing the operator to acquire measurements faster
and with a higher degree of reliability. For example, with the
still camera or video camera device attached, the operator may
record an image or images of the object being measured with the
device. These images may be displayed on display 328 or
incorporated into an inspection report for example. In one
embodiment, the operator may place graphical markers on the
displayed image to define measurement points via the user interface
board 202. In this way, the operator can later recall the marked up
image from memory and quickly see where to make measurements. In
other embodiments, a video is captured of the object being
measured. The video is then replayed via the user interface board
202 to assist the operator in repeating multiple measurements on
the next object to be inspected or as a training tool for new
operators.
[0047] In yet another embodiment, the device may be a paint spray
device 700 (FIG. 7). The paint spray device 700 includes an
interface 426 that electrically and mechanically couples the paint
spray device 700 to the probe housing 102. In this embodiment, the
device 700 includes a controller arranged in communication with
electronic data processing system 210. The communication connection
may be wired (e.g. via arm bus 218), wireless (e.g. Bluetooth or
IEEE 802.11), or a combination of wired and wireless connections.
The device 700 controller receives a signal from the electronic
data processing system 210 and selectively sprays one or more
colors from one or more spray nozzles 702 that are each connected
to a reservoir 704 (e.g. red, green, blue) each with a single color
of paint. It should be appreciated that the spray nozzles 702 may
also be an inkjet type of spray mechanism that deposits droplets of
paint, ink, pigments or dies onto a surface. The inkjet nozzles may
include but are not limited to continuous inkjets, thermal inkjets,
and piezoelectric inkjets. Since the electronic data processing
system 210 knows the position and orientation of the probe housing
102, the device may receive commands to spray a particular color at
a particular location to match a desired image stored in memory.
Thus, an image or picture may be reproduced by the device 700 as
the operator moves the device 700 across the desired surface (e.g.
a wall). This embodiment may also provide advantages in
manufacturing environments to create layout markings on an article,
such as sheet metal for example. It should be appreciated that
while FIG. 7 illustrates the reservoirs 704 as being external to
the AACMM 100, this is for exemplary purposes and the claimed
invention should not be so limited. In one embodiment, the
reservoirs 704 are disposed in the handle of the device 700. In
another embodiment, the reservoirs 704 are arranged in the base 116
and conduits extend through the arm 104 providing a system with no
external wiring, tubes or conduits.
[0048] Referring now to FIG. 6 and FIGS. 8-12, an embodiment is
shown of a device 600 incorporating one or more image projectors
602. In accordance with embodiments of the present invention, one
or more relatively small, commercially available projectors (e.g.,
"ultra miniature" or "pico" projectors) 604 may be mounted to,
connected with, or otherwise attached to the probe end 401 of AACMM
100 or at other various positions thereon (e.g. opposite the
handle, on an arm segment). In FIG. 8A-8D, the projector 604 is
shown mounted to the device 600 adjacent to the handle 126.
However, the projector 604 may be mounted anywhere on the AACMM
100, and may be mounted to a laser line probe, if utilized in
conjunction with the AACMM 100. The projector 604 may contain some
amount of processing capability. In an embodiment, the projector
604 is connected with, or in communication with, the electronic
data processing system 210. As such, the projector 604 may be
provided with visual guidance information or data (e.g., an image
606) that the projector 604 then projects onto the part or object
608 to be measured or otherwise worked on by an operator of the
AACMM 100, as shown in "Position 1" of FIG. 8B.
[0049] Once the orientation of the part 608 is aligned within the
coordinate system of the AACMM 100, the scale of the projected
image 606 and its perspective can be synchronized to the movement
of the AACMM 100 using the positional data of the arm 104. The
image 606 projected on the part 608 can be adjusted by a processor
associated with the projector 604 or via the electronic data
processing system 210 as a function of the position of the probe
end 401, such that as the device 600 is moved, the image 606
projected on the part 608 is stationary, changing both in scale and
orientation to present a stable image to the operator. This can be
seen in "Position 2" of FIG. 8C. As an example, a colored (e.g.
green) circle 610 could be projected to align with a hole 612 in
the part to be measured. As the probe angle or distance relative to
the part 608 is changed, the position of the circle 610 in the
projected image 606 changes, yet the circle 610 remains "locked" in
position over the hole 612, and remains the same size as the hole
612. This is comparable to locking on and tracking a target. An
advantage of this configuration is that the operator does not need
to look away from the part 608 at a computer screen, user interface
or other visual display as the operator moves the AACMM 100.
[0050] Using projected imagery on the part 608 as opposed to simple
grid lines in the prior art provides a wide range of projected
information options, including but not limited to: (1) Color
control--a red circle may change to green after completing a
measurement successfully. The color of the marker or graphics may
change to provide the highest visibility (contrast) for the color
of the part 608. (2) Animations--markers, arrows, or other
indicators may flash, changing frequency, alternately changing
colors to start or finish an operation. (3) Text--messages, data,
or dimensions can be projected on the part. A digital read-out
normally displayed on the computer screen can be projected on the
part 608. (4) CAD images--can be overlaid on parts, with notes,
dimensions or other information. Features to be measured can be
sequentially highlighted with color or animation. (5)
Photographs--actual images of the part (as designed) can be
projected onto the part to be measured, immediately indicating
anything that is different, such as a missing hole or a feature in
the wrong location. ("Projection with Guidance"; see FIG. 9A). (6)
Range Indicator--for non-contact devices like LLP500, range
indicators 614 can be projected onto the part surface 608. These
can be animated, colored, and include text and/or data.
[0051] The AACMM 100 may also use the projector 604 to provide
guidance to the operator as illustrated in FIG. 9A. The projector
604 generates an image on the part 608 highlighting the feature 612
where the measurements are to be taken with circle 610, while also
overlaying indicators 616 where the measurement device 118 should
acquire the measurement points. Textual instructions 618 may also
be projected and overlaid on the part 608. After taking a
measurement of a part or object 608, or a complete set of
measurements of the part 608, an indicator 620 of the results can
be projected directly onto the part 608 as illustrated in FIG. 9B.
This may be used to highlight certain features of the part that are
within tolerance and/or outside of tolerance. For a surface scan,
high and low points may be color coded and projected directly onto
the part 608. For dimensioned feature measurements, a graphical or
textual indicator 622 can be projected on the part 608 notifying
the operator whether features are in and/or out of tolerance. As
discussed above, this provides advantages in decreasing the amount
of time needed for inspection of the part 608 since the operator
does not need to look away to a computer terminal or user
interface.
[0052] The projector 604 may also be used to illuminate the working
area by projecting white light and the size and shape of the
illumination can be controlled. In addition, the area of
illumination may be locked while the device 600 is moved because
the spotlight location and size can be controlled using the
positional data of the probe end 401. If the device 600 is oriented
such that the projector 604 cannot illuminate any of the part 608
(e.g., when pointing at the ceiling), then the projector 604 may
automatically turn off or go to black.
[0053] Referring to FIG. 10-11, in accordance with embodiments of
another aspect of the present invention, multiple projectors 604,
624, 626 may be used with AACMM 100. An embodiment is the projector
624 points at a wall 628 or work surface. Here the projector 624
may be attached to a movable (e.g. swivel) mount on a fixed
(non-moving) portion of the AACMM 100, such as on the base 116 for
example. The image 630 from projector 624 may display the same
information or different information as from the projector 604
mounted on the probe end 401. The image 630 may be for observation
by a second party, or it may serve to replicate the on-board
application software display or an ancillary computer display. In
this manner, data may be made larger i.e., increased coverage
area), or the data may be projected onto a surface 628 that is more
easily viewed by the operator during the measurement session.
[0054] In addition, multiple projectors 604, 626 mounted on the
probe end 401 of AACMM 100 may increase surface area coverage or
coverage of 3D profiles, thus accommodating relatively greater
movement of the probe end 401 without losing image coverage. The
image contours can be adjusted to the contours of the part 608.
[0055] Referring to FIG. 12, in accordance with embodiments of
another aspect of the present invention, an AACMM 100 with a
projector 604 mounted thereon may provide visual task guidance to
the operator. Such visual task guidance may be in the form of
visualization of features of objects or items that are hidden from
view by a surface or other type of obstruction (e.g., a wall or
human skin). For example, the projector 604 may project CAD data,
CAT scan data, laser scan data, or other data on various surfaces
632 that have one or more objects 634, 636 or items behind the
surface 632 that need to be accessed and worked on. However, it is
important that the worker identify the precise location of these
objects so that no damage is caused to other objects or to reduce
that amount of time wasted trying to locate these hidden objects
634, 636. The surface 632 may be a surface of a wall, an assembly,
a human body, or other types of surfaces that hide features or
objects to be worked on.
[0056] FIG. 12 shows the example of an image 638 projected onto a
wall surface 632. Behind the wall surface 632 are various items
such as studs 634, plumbing pipes 636, and electrical wiring.
However, the worker may not know what is positioned behind the wall
surface 632 and/or does not know the positioning of these items
behind the wall surface 632. It would be advantageous to provide
the worker with an image of the items behind the wall surface 632
and the location of 3 those items. Generally, this information
about the hidden features is available as, e.g., CAD data.
[0057] In another application, the AACMM 100 may be used in an
operating room for example. A doctor may use a portable AACMM to
determine the location for making an incision or finding a tumor,
correlating the position of the probe or measurement device 118
with 3D data from Computer Axial Tomography data. In this case, the
projector 604 may project an image on the patient, providing
markers or actual replication of CAT scan imagery to guide the
surgeon. Surgery performed remotely by manually operated robots may
use projection systems in the same way as described above.
[0058] In applications where an AACMM is used in a manufacturing
environment, the projector 604 may provide guidance for a variety
of operations requiring positioning that is driven from 3D CAD or
image files. This includes, for example: drilling holes for rivets,
instruments, accessories; applying decals or adhesive backed
stripes to cars, planes, busses or large parts; painting letters,
details or images; grinding/sanding surfaces or welds until they
conform to drawing requirements; and locating studs or structural
members behind sheathing for nail or screw locations.
[0059] Embodiments of this aspect of the present invention provide
for visualization of hidden features such as pipes, wiring, ducts,
or other objects under walls, bulkheads, floors or behind locked
doors helps to determine where cuts can be safely made. These
embodiments also provide for projected visualization and guidance
for drilling, cutting and access to critical components of
explosive ordinance (e.g., when 3D CAD data of the device is
available).
[0060] According to embodiments of this aspect of the present
invention, a projection system for an AACMM projects guidance and
part data (e.g., structural CAD data) onto a surface of a part. It
also may be used to project images of what is inside walls,
structures, or the human body for use in building modification,
surgery or other invasive procedures. One or more miniature
projectors attached to the arm can project images or data on a part
or surface or provide guidance to the operator. The arm/projector
combination may provide visualization of features hidden by walls,
inside the human body, inside explosive devices, etc. When a 3D
record (e.g., CAD drawing, CAT scan, etc.) of the object exists the
projector and arm combination can project an image that shows the
location of features, as if seeing through the wall.
[0061] Turning now to FIG. 13, a process for implementing the AACMM
100 with removable accessories will now be described in an
exemplary embodiment. As indicated above, the electronic data
processing system 210 implements logic for executing the processes
described in FIG. 13. The logic may be stored at the user interface
board 202, e.g., in memory 332.
[0062] At step 1302, data is received at the electronic data
processing system 210 of the AACMM 100 from a source device. The
source device includes one of the devices 400, 600, and 700.
[0063] At step 1304, the base computer processor identifies the
source of the data. The source of the data (e.g., one of devices
400, 600, and 700) may be identified by determining a transmission
path through which the data is transmitted. For example, if the
source device is physically engaged with the AACMM 100, the
transmission path includes the peripheral component interface bus
240, probe end electronics 230, and arm buses 218 (shown in FIG.
2), as well as the interface 426 and connector 534 (shown in FIG.
5). If the source device is removed from the interface 426 of the
AACMM 100, the transmission path may be wireless (e.g., through a
wireless network) to the electronic data processing system 210. As
indicated above, the respective controllers of devices 400, 600,
and 700 may include wireless components for communicating with the
AACMM 100 (e.g., to the electronic data processing system 210), as
well as other devices that may be configured to receive data
therefrom. The wireless transmission path may be implemented, e.g.,
via a cellular communication network, a global positioning system
network, a short-range communication network (e.g., a
BlueTooth.TM.-enabled network), or similar type of network.
[0064] At step 1306, the base computer processor determines the
data type of the data based in part upon the source of the data,
and/or the data itself. The data types may include, e.g., metrology
data (e.g., raw data measurements taken via the laser line probe
400), image data captured by device 600 (e.g., where device 600 is
a digital camera), sensor data (where device 600 is an RFID
scanner), or other types of data, such as multimedia data.
[0065] At step 1308, the electronic data processing system 210
logic is configured to perform one or more actions in response to
the data type and source of data. For example, if the data received
from the source device is raw measurement data, the action
performed may be converting the raw measurement data in to X, Y, Z
coordinate data to reflect a position of the source device. If the
data is sensor data captured by the device (e.g., an LLP device),
the action performed may include using triangulation processes to
convert the sensor data to positional data to identify a location
of the device. If the data is image data, the action performed may
be processing pixel data into known image data formats (e.g.,
JPEG). Alternatively, or in addition thereto, the action may
include converting captured data to a representation that overlays
other captured data (e.g., image data may be transposed on top of
X, Y, Z coordinate data to show more detail of an object being
measured). If the data is control signal data representing
actuation of a spray painting device (e.g., device 700), then the
action performed may include selecting a reservoir 704 and
activating a nozzle 702 to paint a surface or object.
[0066] At step 1310, the electronic data processing system 210
logic outputs results of the action performance to one or more
destination devices. The destination device may include the user
interface display of the user interface board 202 onboard the AACMM
100 or a remote device (e.g., a general purpose desktop, PDA, smart
phone, etc.).
[0067] Technical effects and benefits include obtaining
measurements of objects and other data through interchangeable
devices of the AACMM and an interface. The benefits include
integrating some level of control of the probe end the AACMM with
accessory devices (i.e., the interchangeable devices). Other
benefits include providing power and data communications to a
removable accessory without having external connections or
wiring.
[0068] As will be appreciated by one skilled in the art, aspects of
the present invention may be embodied as a system, method, or
computer program product. Accordingly, aspects of the present
invention may take the form of an entirely hardware embodiment, an
entirely software embodiment (including firmware, resident
software, micro-code, etc.) or an embodiment combining software and
hardware aspects that may all generally be referred to herein as a
"circuit," "module" or "system." Furthermore, aspects of the
present invention may take the form of a computer program product
embodied in one or more computer readable medium(s) having computer
readable program code embodied thereon.
[0069] Any combination of one or more computer readable medium(s)
may be utilized. The computer readable medium may be a computer
readable signal medium or a computer readable storage medium. A
computer readable storage medium may be, for example, but not
limited to, an electronic, magnetic, optical, electromagnetic,
infrared, or semiconductor system, apparatus, or device, or any
suitable combination of the foregoing. More specific examples (a
non-exhaustive list) of the computer readable medium would include
the following: an electrical connection having one or more wires, a
portable computer diskette, a hard disk, a random access memory
(RAM), a read-only memory (ROM), an erasable programmable read-only
memory (EPROM or Flash memory), an optical fiber, a portable
compact disc read-only memory (CD-ROM), an optical storage device,
a magnetic storage device, or any suitable combination of the
foregoing. In the context of this document, a computer readable
storage medium may be any tangible medium that may contain, or
store a program for use by or in connection with an instruction
execution system, apparatus, or device.
[0070] A computer readable signal medium may include a propagated
data signal with computer readable program code embodied therein,
for example, in baseband or as part of a carrier wave. Such a
propagated signal may take any of a variety of forms, including,
but not limited to, electro-magnetic, optical, or any suitable
combination thereof. A computer readable signal medium may be any
computer readable medium that is not a computer readable storage
medium and that can communicate, propagate, or transport a program
for use by or in connection with an instruction execution system,
apparatus, or device.
[0071] Program code embodied on a computer readable medium may be
transmitted using any appropriate medium, including but not limited
to wireless, wireline, optical fiber cable, RF, etc., or any
suitable combination of the foregoing.
[0072] Computer program code for carrying out operations for
aspects of the present invention may be written in any combination
of one or more programming languages, including an object oriented
programming language such as Java, Smalltalk, C++, C# or the like
and conventional procedural programming languages, such as the "C"
programming language or similar programming languages. The program
code may execute entirely on the user's computer, partly on the
user's computer, as a stand-alone software package, partly on the
user's computer and partly on a remote computer or entirely on the
remote computer or server. In the latter scenario, the remote
computer may be connected to the user's computer through any type
of network, including a local area network (LAN) or a wide area
network (WAN), or the connection may be made to an external
computer (for example, through the Internet using an Internet
Service Provider).
[0073] Aspects of the present invention are described with
reference to flowchart illustrations and/or block diagrams of
methods, apparatus (systems) and computer program products
according to embodiments of the invention. It will be understood
that each block of the flowchart illustrations and/or block
diagrams, and combinations of blocks in the flowchart illustrations
and/or block diagrams, may be implemented by computer program
instructions.
[0074] These computer program instructions may be provided to a
processor of a general purpose computer, special purpose computer,
or other programmable data processing apparatus to produce a
machine, such that the instructions, which execute via the
processor of the computer or other programmable data processing
apparatus, create means for implementing the functions/acts
specified in the flowchart and/or block diagram block or blocks.
These computer program instructions may also be stored in a
computer readable medium that may direct a computer, other
programmable data processing apparatus, or other devices to
function in a particular manner, such that the instructions stored
in the computer readable medium produce an article of manufacture
including instructions which implement the function/act specified
in the flowchart and/or block diagram block or blocks.
[0075] The computer program instructions may also be loaded onto a
computer, other programmable data processing apparatus, or other
devices to cause a series of operational steps to be performed on
the computer, other programmable apparatus or other devices to
produce a computer implemented process such that the instructions
which execute on the computer or other programmable apparatus
provide processes for implementing the functions/acts specified in
the flowchart and/or block diagram block or blocks.
[0076] The flowchart and block diagrams in the Figures illustrate
the architecture, functionality, and operation of possible
implementations of systems, methods, and computer program products
according to various embodiments of the present invention. In this
regard, each block in the flowchart or block diagrams may represent
a module, segment, or portion of code, which comprises one or more
executable instructions for implementing the specified logical
function(s). It should also be noted that, in some alternative
implementations, the functions noted in the block may occur out of
the order noted in the Figures. For example, two blocks shown in
succession may, in fact, be executed substantially concurrently, or
the blocks may sometimes be executed in the reverse order,
depending upon the functionality involved. It will also be noted
that each block of the block diagrams and/or flowchart
illustration, and combinations of blocks in the block diagrams
and/or flowchart illustration, may be implemented by special
purpose hardware-based systems that perform the specified functions
or acts, or combinations of special purpose hardware and computer
instructions.
[0077] While the invention has been described with reference to
example embodiments, it will be understood by those skilled in the
art that various changes may be made and equivalents may be
substituted for elements thereof without departing from the scope
of the invention. In addition, many modifications may be made to
adapt a particular situation or material to the teachings of the
invention without departing from the essential scope thereof.
Therefore, it is intended that the invention not be limited to the
particular embodiment disclosed as the best mode contemplated for
carrying out this invention, but that the invention will include
all embodiments falling within the scope of the appended claims.
Moreover, the use of the terms first, second, etc. do not denote
any order or importance, but rather the terms first, second, etc.
are used to distinguish one element from another. Furthermore, the
use of the terms a, an, etc. do not denote a limitation of
quantity, but rather denote the presence of at least one of the
referenced item.
* * * * *