United States Patent (19)
`Gawronski et al.
`
`USOO6073056A
`Patent Number:
`11
`(45) Date of Patent:
`
`6,073,056
`Jun. 6, 2000
`
`54 METHOD AND SYSTEM FOR BUILDING A
`DATA MODEL OF A PHYSICAL PART INA
`DATA FORMAT USEFUL FOR AND
`
`5,528,505 6/1996 Granger et al. ......................... 700/195
`5,546.328 8/1996 Kiridena et al.
`700/279
`5,552,992 9/1996 Hunter ................
`... 700/118
`
`REPRODUCTION OF THE PART
`
`All E", h
`75 Inventors: 2.
`arles R. Hunter, Sterling Heights,
`both of Mich.
`73 Assignee: Larry J. Winget, Leonard, Mich.
`
`21 Ap1. No.: 08/82772
`21 Appl. No
`1827,721
`22 Filed:
`Apr. 8, 1997
`511 Int. Cl." ................................................. G06F 19FOO
`51
`f
`52 U.S. Cl. ............................................... 700/98; 700/195
`58 Field of Search ..................................... 700/161, 195,
`7OO/98. 318/.570
`/98;
`f
`
`56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`
`4,525,858 7/1985 Cline et al. ............................. 382/154
`5,121,329 6/1992 Crump ..........
`... 700/119
`5,319,567 6/1994 Ebenstein ................................ zoo
`5,340,433 8/1994 Crump .................................... SS7s
`2- : - 2
`5,384,717
`1/1995 Ebenstein
`... 700/167
`5,402,582 4/1995 Raab ......................................... 33/503
`5,412,880 5/1995 Raab ......................................... 33/503
`5,414,647 5/1995 Ebenstein et al. ...................... 702/167
`
`5,587,912 12/1996 Andersson et al. - - - - - - - - - - - - - - - - - - - - - - - 700/98
`
`5,627,771 5/1997 Makino ................................... 702/155
`5,630,981
`5/1997 Hull ................
`... 264/401
`5,652,709 7/1997 Andersson et al
`... 700/97
`5,691.905 11/1997 Dehoff et al. .......
`... 700/98
`5,724.264 3/1998 Rosenberg et al. .
`702/152
`5,729,463 3/1998 Koenig et al. ............................ 700/98
`Primary Examiner William Grant
`ASSistant Examiner Zoila Cabrera
`Attorney, Agent, or Firm Brooks & Kushman P.C.
`57
`ABSTRACT
`
`Method and system are provided for building a data model
`of a physical part in a data format useful for reproduction of
`• a •
`the part. The system preferably includes a Moiré interfer
`ometry System including a camera mounted on a portable
`coordinate measuring System (CMM) to obtain high density
`data scans in the form of 3-D point data from different
`positions and orientations of the interferometry System rela
`tive to the part. The CMM provides position data to enable
`an engineering WorkStation to convert the data Scans
`btained i
`ltiple local
`dinat
`t
`int
`ingl
`obtained in multiple local coordinate systems into a Single
`global coordinate System. The engineering workstation then
`integrates the data Scans in the global coordinate SVStem and
`9.
`9.
`y
`joins the point data to form a polygonal Structure corre
`sponding to multiple continuous Surfaces of the physical
`part. From this data, a tool path can be generated to cut a
`
`5,426,722 6/1995 Batchelder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 700/245
`
`reproduction of the part O mold for molding the repro
`
`duction. Alternatively, a stereo-lithography or FDM file can
`... 700/195
`5,428,548 6/1995 Pilborough et al. ..
`be generated for use in a fused deposition molding (FDM)
`... 700/163
`5,440,496 8/1995 Andersson et al. ...
`tem to f
`ld 1
`bv-l
`Such
`ld
`th
`... 382/141
`5,442,572 8/1995 Kiridena et al. ..
`zoos system to Iorm a mola layer-by-layer. Such a mold can unen
`5,452,219 9/1995 Dehoff et al. .....
`5,490,080 2/1996 Jarrige et al. ............................. 700/98
`be adapted for use in a System to vacuum cast the repro
`5,491,643 2/1996 Batchelder ...
`395/50001
`duction.
`5,503,785 4/1996 Crump et al. .
`... 264/40.7
`5,510,977 4/1996 Raab ......................................... 700/66
`
`38 Claims, 2 Drawing Sheets
`
`a
`
`
`
`-
`
`6. \
`ENGINEERING
`WORKSTATION
`
`58
`
`CREATE
`POLYGONAL
`MESH
`PATH
`
`CREATE
`SURFACE
`
`6.
`
`/
`
`!
`DESIGN
`MOLD
`SURFACE
`
`62
`
`a4
`
`66
`
`GENERATE
`TOOLPATH
`DAA
`| ?
`ACHING
`CENTER
`
`CUT
`PRODUCION
`MOD
`
`
`
`
`
`N
`BUILD MOLD
`LAYERBY-
`LAYER
`
`ADAPTOLD
`FORWACUUM
`CASTING
`
`44
`
`46
`
`
`
`48
`
`GENERATE
`TOOLPATH
`DATA
`
`MASING
`
`WACU
`CAST
`PART
`
`CUT
`PART
`
`EX1073
`Yita v. MacNeil
`IPR2020-01139
`
`

`

`U.S. Patent
`U.S. Patent
`
`Jun. 6, 2000
`Jun. 6, 2000
`
`Sheet 1 of 2
`Sheet 1 of 2
`
`6,073,056
`6,073,056
`
`
`
`TU
`
`NOLLISOCIETOJ
`NOILISOdAG
`ONILSVO
`WNNOVA
`
`28
`ce
`
`CEST)-|
`gasna
`
`ONITION
`5ONIO TOWN
`
`
`WELLSÅS
`WALSAS
`
`WALSAS
`
`Z ??!?
`
`|WE1SÅS
`\WALSAS
`!'AYLAWOuSSHSINI
`
`1
`
`
`

`

`U.S. Patent
`U.S. Patent
`
`Jun. 6, 2000
`Jun. 6, 2000
`
`Sheet 2 of 2
`Sheet 2 of 2
`
`6,073,056
`6,073,056
`
`28
`28
`
`30
`30
`
`60
`60
`
`PART
`PART
`
`SCAN
`SCAN
`PART
`PART
`
`ENGINEERING
`ENGINEERING
`WORKSTATION
`WORKSTATION
`
`40
`40
`
`58
`58
`
`
`
`
`
`
`
`
`
`CREATE
`CREATE
`
` CREATE
`CREATE
`POLYGONAL
`POLYGONAL
`
`SURFACE
`MESH
`SURFACE
`MESH
`
`PATH
`PATH
`
`
`
`
`
`
`
`44
`44
`
`
`
`52
`52
`
`BUILD MOLD
`BUILD MOLD
`LAYER-BY-
`LAYER-BY-
`LAYER
`LAYER
`
`GENERATE
`GENERATE
`TOOL PATH
`TOOL PATH
`DATA
`DATA
`
`ADAPT MOLD
`ADAPT MOLD
`FOR WACUUM
`FOR VACUUM
`CASTING
`CASTING
`
`MACHINING
`MASING
`CENTER
`
`
`
`DESIGN
`DESIGN
`MOLD
`MOLD
`SURFACE
`SURFACE
`
`aeATH
`GENERATE
`TOOL PATH
`DATA
`DATA
`
`
`
`PART
`
`WACUUM
`VACUUM
`CAST
`CAST
`PART
`
`CUT
`CUT
`PART
`PART
`
`MACHINING
`MACHINING
`CENTER
`CENTER
`
`
`MOLD
`
`
`
`CUT
`CUT
`PRODUCTION
`PRODUCTION
`MOLD
`
`60
`60
`
`62
`62
`
`64
`64
`
`66
`66
`
`

`

`6,073,056
`6,073,056
`
`10
`
`15
`15
`
`20
`
`2
`2
`the Crump et al. U.S. Pat. No. 5,503,785 all disclose a rapid
`the Crumpet al. U.S. Pat. No. 5,503,785 all disclose a rapid
`prototyping System in the form of a fused deposition mod
`prototyping system in the form of a fused deposition mod-
`eling System which builds a model layer-upon-layer using an
`eling system which builds a model layer-upon-layer using an
`extrusion and laminating procedure from a CAD model of a
`extrusion and laminating procedure from a CAD modelof a
`part.
`part.
`
`1
`1
`METHOD AND SYSTEM FOR BUILDING A
`METHOD AND SYSTEM FOR BUILDING A
`DATA MODELOF A PHYSICAL PART IN A
`DATA MODEL OF A PHYSICAL PART IN A
`DATA FORMAT USEFUL FOR AND
`DATA FORMAT USEFUL FOR AND
`REPRODUCTION OF THE PART
`REPRODUCTION OF THE PART
`TECHNICAL FIELD
`TECHNICAL FIELD
`SUMMARYOF THE INVENTION
`SUMMARY OF THE INVENTION
`This invention relates to methods and systems for build
`This invention relates to methods and systems for build-
`ing data models of a physical part and, in particular, to
`An object of the present invention is to provide a method
`ing data models of a physical part and,
`in particular,
`to
`An object of the present invention is to provide a method
`methods and Systems for building data models of a physical
`and System for building a data model of a physical part in a
`methods and systems for building data models of a physical
`and system for building a data model of a physical part in a
`part in a data format useful for and reproduction of the part.
`data format useful for and reproduction of the part without
`part in a data format useful for and reproduction ofthe part.
`data format useful for and reproduction of the part without
`requiring any Specialized hardware for precise part orienta
`requiring any specialized hardware for precise part orienta-
`BACKGROUND ART
`BACKGROUND ART
`tion.
`tion.
`Various methods and Systems are available for collecting
`Another object of the present invention is to provide a
`Various methods and systemsare available for collecting
`Another object of the present invention is to provide a
`three-dimensional data for digitization of a three
`method and System for building a data model of a physical
`three-dimensional data for digitization of a three-
`method and system for building a data model of a physical
`dimensional object. This data can be obtained from non
`part in a data format useful for and reproduction of the part
`dimensional object. This data can be obtained from non-
`part in a data format useful for and reproduction of the part
`contact devices such as laser scanners or camera-based
`contact devices Such as laser Scanners or camera-based
`wherein Scan data may be taken from any number of
`wherein scan data may be taken from any number of
`Moiré interferometry systems.
`positions and orientations and is independent of any par
`Moiré interferometry systems.
`positions and orientations and is independent of any par-
`ticular scan method or device.
`Laser Scanning is a light menSuration technique which has
`ticular Scan method or device.
`Laser scanningis a light mensuration technique which has
`been used to collect data from the surface of a three-
`been used to collect data from the Surface of a three
`A still further object of the present invention is to provide
`Astill further object of the present invention is to provide
`dimensional article. The data points correspond to coordi
`dimensional article. The data points correspond to coordi-
`a method and System for building a data model of a physical
`a method and system for building a data model of a physical
`nate values over the Surface of the Scanned article, for
`nate values over the surface of the scanned article, for
`part in a data format useful for and reproduction of the part
`part in a data format useful for and reproduction of the part
`example taken along the X, Y and Z axes. The laser Scan
`wherein scan data is taken in different
`local coordinate
`example taken along the X, Y and Z axes. The laser scan
`wherein Scan data is taken in different local coordinate
`head traverses a Scan path over the Surface of the article and
`Systems and transformed into a global coordinate System
`head traverses a scan path over the surface ofthe article and
`systems and transformed into a global coordinate system
`at Selectable distances along the path, point values may be
`at selectable distances along the path, point values may be
`based on precise measurements of the position and orienta
`based on precise measurements of the position and orienta-
`taken. The laser Scan generally results in generation of a Set
`tion of a light measuring device relative to the physical part.
`taken. The laser scan generally results in generation of a set
`tion of a light measuring device relative to the physical part.
`of scan data in a digitized format. The Hunter U.S. Pat. No.
`of scan data in a digitized format. The Hunter U.S. Pat. No.
`In carrying out the above objects and other objects of the
`In carrying out the above objects and other objects of the
`5,552,992 and the Dehoff et al. U.S. Pat. No. 5,452,219
`5,552,992 and the Dehoff et al. U.S. Pat. No. 5,452,219
`present invention, a method is provided for building a data
`present invention, a method is provided for building a data
`disclose Such a technique.
`disclose such a technique.
`model of a physical part in a data format useful for and
`model of a physical part in a data format useful for and
`The Cline et al. U.S. Pat. No. 4,525,858 discloses a
`The Cline et al. U.S. Pat. No. 4,525,858 discloses a
`reproduction of the part. The method includes the step of
`reproduction of the part. The method includes the step of
`method and apparatus for reconstruction of three
`Scanning a first Surface of the physical part with a light
`method and apparatus for reconstruction of three-
`scanning a first surface of the physical part with a light
`dimensional Surfaces from interference fringes wherein the
`measuring device at a first position and orientation of the
`dimensional surfaces from interference fringes wherein the
`measuring device at a first position and orientation of the
`three-dimensional Surface is used as input to a CAD/CAM
`three-dimensional surface is used as input to a CAD/CAM
`device relative to the physical part to obtain a first set of 3-D
`device relative to the physical part to obtainafirst set of 3-D
`System.
`system.
`point data which represents the geometry of the first Surface
`point data which represents the geometry of the first surface
`The Ebenstein et al. U.S. Pat. No. 5,414,647, Kiridena et
`in a first local coordinate System. The method also includes
`The Ebenstein et al. U.S. Pat. No. 5,414,647, Kiridena et
`in a first local coordinate system. The method also includes
`the Steps of measuring the first position and orientation of
`al. U.S. Pat. No. 5,546,328, Ebenstein U.S. Pat. No. 5,384,
`al. U.S. Pat. No. 5,546,328, Ebenstein U.S. Pat. No. 5,384,
`the steps of measuring the first position and orientation of
`the device relative to the physical part to obtain a first Set of
`717, Kiridena et al. U.S. Pat. No. 5,442,572, and Ebenstein
`717, Kiridena et al. U.S. Pat. No. 5,442,572, and Ebenstein
`the device relative to the physical part to obtainafirst set of
`position data and generating a first transform based on the
`U.S. Pat. No. 5,319,567 all disclose the use of a laser Scanner
`US. Pat. No. 5,319,567 all disclose the use of a laser scanner
`position data and generating a first transform based on the
`to collect three-dimensional point data of a part Surface to
`first Set of position data.
`to collect three-dimensional point data of a part surface to
`first set of position data.
`thereby obtain a high density point data model. The high
`thereby obtain a high density point data model. The high
`The method also includes the Steps of mapping the first Set
`The method also includesthe steps of mapping thefirst set
`density point data model does not approximate part geom
`density point data model does not approximate part geom-
`of 3-D point data in a global coordinate System based on the
`of 3-D point data in a global coordinate system based on the
`etry like a traditional CAD model does where a relatively
`etry like a traditional CAD model does wherearelatively
`first transform and Scanning a Second Surface of the physical
`first transform and scanning a second surface of the physical
`few number of points are used to represent a part by using
`few number of points are used to represent a part by using
`part with the light measuring device at a Second position and
`part with the light measuring device at a second position and
`these points as control points in constructing Spline curves or
`these points as control points in constructing spline curves or
`orientation different from the first position and orientation of
`orientation different from the first position and orientation of
`other mathematical curves to represent part geometry. If one
`other mathematical curves to represent part geometry. If one
`the device relative to the physical part to obtain a Second Set
`the device relative to the physical part to obtain a secondset
`requires a better geometric definition of the high density
`of 3-D point data which represents the geometry of the
`requires a better geometric definition of the high density
`of 3-D point data which represents the geometry of the
`point data model, one only need take the data at a higher
`point data model, one only need take the data at a higher
`Second Surface in a Second local coordinate System. The
`second surface in a second local coordinate system. The
`density or use a more accurate measuring device to get more
`density or use a more accurate measuring device to get more
`method also includes the Steps of measuring the Second
`method also includes the steps of measuring the second
`accurate data.
`accurate data.
`position and orientation of the device relative to the physical
`position and orientation of the device relative to the physical
`part to obtain a Second Set of position data, generating a
`With particular reference to the Ebenstein et al. U.S. Pat.
`With particular reference to the Ebenstein et al. U.S. Pat.
`part to obtain a second set of position data, generating a
`No. 5,414,647, the patent acknowledges the problem of
`Second transform based on the Second Set of position data,
`No. 5,414,647,
`the patent acknowledges the problem of
`second transform based on the second set of position data,
`integrating high density data Scans which have been col
`and mapping the Second set of 3-D point data in the global
`integrating high density data scans which have been col-
`and mapping the second set of 3-D point data in the global
`lected from different orientations. The patent describes the
`coordinate System based on the Second transform. Finally,
`lected from different orientations. The patent describes the
`coordinate system based on the second transform. Finally,
`use of the location of reference features in local coordinate
`the method includes the Step of integrating the first and
`use of the location of reference features in local coordinate
`the method includes the step of integrating the first and
`Systems to obtain a transform and mapping Scan data from
`Second Sets of 3-D point data in the global coordinate System
`systems to obtain a transform and mapping scan data from
`second sets of 3-D point data in the global coordinate system
`the local coordinate Systems into a global coordinate System
`to obtain the data model of the physical part in the data
`the local coordinate systemsinto a global coordinate system
`to obtain the data model of the physical part in the data
`format.
`based on the transform to obtain a CAD model of the object
`format.
`based on the transform to obtain a CAD modelof the object
`in the global coordinate System. However, oftentimes it is
`in the global coordinate system. However, oftentimesit is
`Further in carrying out the above objects and other objects
`Further in carrying out the above objects and other objects
`difficult, if not impossible, to determine or provide for
`of the present invention, a System is provided for building a
`difficult,
`if not
`impossible,
`to determine or provide for
`of the present invention, a system is provided for building a
`reference features in the local coordinate Systems.
`reference features in the local coordinate systems.
`data model of a physical part and a data format useful for and
`data modelof a physical part and a data format useful for and
`reproduction of the part. The System includes a light mea
`The Raab U.S. Pat. Nos. 5,402,582, 5,412,880, and 5,510,
`The Raab U.S. Pat. Nos. 5,402,582, 5,412,880, and 5,510,
`reproduction of the part. The system includes a light mea-
`977 disclose a portable coordinate measuring machine com
`Suring device for Scanning first and Second Surfaces of the
`977 disclose a portable coordinate measuring machine com-
`suring device for scanning first and second surfaces of the
`prising a multi-jointed manually positionable measuring arm
`physical part at first and Second positions and orientations of
`prising a multi-jointed manually positionable measuring arm
`physicalpartat first and second positions and orientations of
`for measuring a Volume including a controller which acts as
`the light measuring device relative to the physical part,
`for measuring a volumeincluding a controller which acts as
`the light measuring device relative to the physical part,
`an electronic interface between the arm and a host computer.
`respectively, to obtain first and Second Sets of 3-D point data
`an electronic interface between the arm and a host computer.
`respectively, to obtain first and second sets of 3-D point data
`which represent the geometry of the first and Second Sur
`The Batchelder U.S. Pat. Nos. 5,491,643 and 5,426,722
`The Batchelder U.S. Pat. Nos. 5,491,643 and 5,426,722
`which represent the geometry of the first and second sur-
`faces in first and Second local coordinate Systems, respec
`and the Crump U.S. Pat. Nos. 5,340,433 and 5,121,329, and
`and the Crump U‘S. Pat. Nos. 5,340,433 and 5,121,329, and
`faces in first and second local coordinate systems, respec-
`
`25
`25
`
`30
`
`35
`35
`
`40
`40
`
`45
`45
`
`50
`50
`
`55
`55
`
`60
`60
`
`65
`65
`
`

`

`6,073,056
`6,073,056
`
`10
`
`15
`15
`
`3
`4
`3
`4
`tively. The System also includes a measuring apparatus for
`24 in relationship to the last link of the arm 12. Knowledge
`24 in relationship to the last link of the arm 12. Knowledge
`tively. The system also includes a measuring apparatus for
`measuring the first and Second positions and orientations of
`of the coordinates of the tip 24 allows the coordinate
`of the coordinates of the tip 24 allows the coordinate
`measuring the first and second positions and orientations of
`the light measuring device relative to the physical part to
`measuring machine 10 to determine the position and orien
`measuring machine 10 to determine the position and orien-
`the light measuring device relative to the physical part to
`tation of its last link.
`obtain first and Second Sets of position data, respectively.
`tation of its last link.
`obtain first and second sets of position data, respectively.
`The System further includes a computer programmed to
`However, it is to be understood that 3-D positional and/or
`The system further includes a computer programmed to
`However, it is to be understood that 3-D positional and/or
`generate a first transform based on the first Set of position
`orientation information may be provided to the engineering
`generate a first transform based on thefirst set of position
`orientation information may be provided to the engineering
`data, generate a Second transform based on the Second Set of
`workstation 18 by other methods and apparatus without
`data, generate a second transform based on the secondset of
`workstation 18 by other methods and apparatus without
`position data, map the first Set of 3-D point data in a global
`departing from the method and System of the present inven
`position data, map the first set of 3-D point data in a global
`departing from the method and system of the present inven-
`tion.
`coordinate System based on the first transform, map the
`coordinate system based on the first transform, map the
`tion.
`Second Set of 3-D point data in the global coordinate System
`second set of 3-D point data in the global coordinate system
`Mounted on the last link of the coordinate measuring
`Mounted on the last link of the coordinate measuring
`based on the Second transform, and integrate the first and
`based on the second transform, and integrate the first and
`machine 10 is a light measuring device Such as a Moiré
`machine 10 is a light measuring device such as a Moiré
`Second Sets of 3-D point data in the global coordinate System
`second sets of 3-D point data in the global coordinate system
`interferometry System 26, which preferably includes a cam
`interferometry system 26, which preferably includes a cam-
`to obtain the data model of the physical part in the data
`to obtain the data model of the physical part in the data
`era or Sensor for receiving projected light projected onto and
`era or sensorfor receiving projected light projected onto and
`format.
`format.
`reflected from a part 28, as illustrated in FIG. 2. The step of
`reflected from a part 28,as illustrated in FIG. 2. The step of
`Preferably, the light measuring device is a Moiré inter
`Scanning the part with the interferometry System 26 is
`Preferably, the light measuring device is a Moiré inter-
`scanning the part with the interferometry system 26 is
`ferometry System including a camera which forms an array
`illustrated at block 30 in FIG. 2. A Moiré interferometry
`ferometry system including a camera which forms an array
`illustrated at block 30 in FIG. 2. A Moiré interferometry
`of pixels, each of the pixels having a gray Scale level.
`System generally of the type used in the present invention is
`of pixels, each of the pixels having a gray scale level.
`system generally of the type used in the present invention is
`disclosed in the Steinbickler U.S. Pat. No. 5,289.264 and
`Also, preferably, the first and second sets of 3-D point
`disclosed in the Steinbickler U.S. Pat. No. 5,289,264 and
`Also, preferably, the first and second sets of 3-D point
`Cline et al. U.S. Pat. No. 4,525,858.
`data overlap in the global coordinate System and wherein
`Cline et al. U.S. Pat. No. 4,525,858.
`data overlap in the global coordinate system and wherein
`integration of the Sets of data includes filtering the 3-D point
`However, it is to be understood that high density data
`integrationofthe sets of data includesfiltering the 3-D point
`However,
`it is to be understood that high density data
`scans can also be obtained from a laser scanner or other
`data which overlaps in the global coordinate System.
`Scans can also be obtained from a laser Scanner or other
`data which overlaps in the global coordinate system.
`methods of obtaining high density data other than the
`Still, preferably, the first and second sets of 3-D point data
`methods of obtaining high density data other than the
`Still, preferably, the first and secondsets of 3-D point data
`interferometry system 26 as disclosed in FIG. 1.
`are joined in the global coordinate System to form a polygo
`interferometry system 26 as disclosed in FIG. 1.
`are joined in the global coordinate system to form a polygo-
`In general, the interferometry System 26 Scans the part 28
`nal Structure corresponding to the first and Second Surfaces
`In general, the interferometry system 26 scansthe part 28
`nal structure corresponding to the first and second surfaces
`of the physical part.
`at a first position and orientation of the system 26 defined by
`at a first position and orientation of the system 26 defined by
`of the physical part.
`the CMM 10 relative to the part 28 to obtain a first set of 3-D
`the CMM 10relative to the part 28 to obtain a first set of 3-D
`The above objects and other objects, features, and advan
`The above objects and other objects, features, and advan-
`point data which represents the geometry of a first Surface in
`tages of the present invention are readily apparent from the
`point data which represents the geometry of a first surface in
`tages of the present invention are readily apparent from the
`a first local coordinate System. This data is mapped into a
`following detailed description of the best mode for carrying
`a first local coordinate system. This data is mapped into a
`following detailed description of the best mode for carrying
`global coordinate System based on a transformation matrix
`out the invention when taken in connection with the accom-
`30
`global coordinate system based on a transformation matrix
`out the invention when taken in connection with the accom
`generated at the engineering WorkStation 18 from a first Set
`panying drawings.
`generated at the engineering workstation 18 fromafirst set
`panying drawings.
`of digitized position data provided by the coordinate mea
`of digitized position data provided by the coordinate mea-
`BRIEF DESCRIPTION OF THE DRAWINGS
`Suring machine 10 and its controller 16. Then, second and
`BRIEF DESCRIPTION OF THE DRAWINGS
`suring machine 10 and its controller 16. Then, second and
`additional sets of 3-D point data in their respective local
`additional sets of 3-D point data in their respective local
`FIG. 1 is a schematic view of a system of the present
`FIG. 1 is a schematic view of a system of the present
`coordinate Systems are Similarly obtained for additional
`coordinate systems are similarly obtained for additional
`invention for building a data model in a data format useful
`invention for building a data model in a data format useful
`surfaces of the part 28. These additional sets of data are
`surfaces of the part 28. These additional sets of data are
`for and reproduction of the part; and
`for and reproduction of the part; and
`mapped into the global coordinate System again within the
`mapped into the global coordinate system again within the
`FIG. 2 is a block diagram flow chart illustrating the
`FIG. 2 is a block diagram flow chart
`illustrating the
`workstation 18 by transformation matrixes formed from
`workstation 18 by transformation matrixes formed from
`method and System of the present invention.
`their respective Sets of digitized position data provided by
`method and system of the present invention.
`their respective sets of digitized position data provided by
`the CMM 10 andits controller 16.
`the CMM 10 and its controller 16.
`BEST MODE FOR CARRYING OUT THE
`BEST MODE FOR CARRYING OUT THE
`Typically, the sets of 3-D point data in the global coor
`Typically, the sets of 3-D point data in the global coor-
`INVENTION
`INVENTION
`dinate System overlap each other and, consequently, an
`dinate system overlap each other and, consequently, an
`operator of the workstation 18 edits the 3-D point data in the
`Referring now to the drawing Figures, there is illustrated
`operator of the workstation 18 edits the 3-D point data in the
`Referring now to the drawing Figures, there is illustrated
`global coordinate System by means of a keyboard 32 and/or
`in FIG. 1 a portable coordinate measuring machine (i.e.
`global coordinate system by meansof a keyboard 32 and/or
`in FIG. 1 a portable coordinate measuring machine (ie.
`CMM), generally indicated at 10, including a manually
`a mouse 34, both connected in a typical fashion to a chassis
`a mouse 34, both connected in a typical fashion to a chassis
`CMM), generally indicated at 10,
`including a manually
`36 of the workstation 18. The workstation 18 is preferably
`operated multi-jointed arm 12 and a Support base or post 14.
`36 of the workstation 18. The workstation 18 is preferably
`operated multi-jointed arm 12 and a supportbase or post 14.
`programmed to have a graphical user interface for display on
`The coordinate measuring machine 10 also includes a con
`programmedto have a graphical user interface for display on
`The coordinate measuring machine 10 also includes a con-
`a display screen 38 of the workstation 18.
`troller 16 which communicates with a host computer or
`a display screen 38 of the workstation 18.
`troller 16 which communicates with a host computer or
`engineering WorkStation, generally indicated at 18. The
`The point data in the global coordinate System may then
`engineering workstation, generally indicated at 18. The
`The point data in the global coordinate system may then
`processed within the WorkStation 18 to yield a polygonal
`machine 10 and its controller 16 are more particularly
`machine 10 and its controller 16 are more particularly
`processed within the workstation 18 to yield a polygonal-
`described in the above-noted patents to Raab. However, in
`faceted, three-dimensional Surface representation or Struc
`described in the above-noted patents to Raab. However, in
`faceted, three-dimensional surface representation or struc-
`general, the coordinate measuring machine 10 includes
`ture which can be displayed and manipulated at the work
`general,
`the coordinate measuring machine 10 includes
`ture which can be displayed and manipulated at the work-
`Station 18 using computer-aided design techniques.
`transducers which gather rotational positioning data and
`transducers which gather rotational positioning data and
`station 18 using computer-aided design techniques.
`Preferably, the polygonal Surface representation is formed
`forward this data to the controller 16 which is provided to
`forward this data to the controller 16 which is provided to
`Preferably, the polygonal surface representation is formed
`reduce the overall requirements of the engineering WorkSta
`by triangulation wherein the point data are joined to form a
`reduce the overall requirements of the engineering worksta-
`by triangulation wherein the point data are joined to form a
`tion 18 to handle calculations and to thereby provide pre
`triangular or wire frame representation of the three
`tion 18 to handle calculations and to thereby provide pre-
`triangular or wire frame representation of the three-
`liminary data manipulation. The controller 16 processes the
`dimensional Surface corresponding to the Surface of the
`liminary data manipulation. The controller 16 processes the
`dimensional surface corresponding to the surface of the
`transducer data on an ongoing basis and provides three
`object. This data is also called polygonal mesh data, as
`transducer data on an ongoing basis and provides three-
`object. This data is also called polygonal mesh data, as
`indicated at block 40 in FIG. 2.
`dimensional positional and/or orientation information to the
`indicated at block 40 in FIG. 2.
`dimensional positional and/or orientation information to the
`engineering WorkStation 18.
`engineering workstation 18.
`The polygonal mesh data may then be converted into a
`The polygonal mesh data may then be converted into a
`stereolithography or FDM file within the workstation 18 for
`As further illustrated in FIG. 1, the coordinate measuring
`As further illustrated in FIG. 1, the coordinate measuring
`stereolithography or FDM file within the workstation 18 for
`use in a fused deposition molding (i.e., FDM) system, as
`machine 10 illustrates a probe tip calibration System includ
`use in a fused deposition molding (i.e., FDM) system, as
`machine 10 illustrates a probe tip calibration system includ-
`indicated at 42 in FIG. 1. Such