# US 4,651,283 A · Installation for determining the spatial coordinates of a point on a piece, in particular for controlling a plant such as a welding plant for the car bodies of motor vehicles

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- Number: US 4,651,283 A
- Document ID: US4651283A
- Status: Granted
- Kind: A
- Application number: 06/649,027
- Filed: 1984-09-10
- Granted: 1987-03-17
- Earliest claimed: 1983-09-08
- Assignees: Sciaky, Inc.
- Inventors: Mario Sciaky; Roland Cazes
- Web page: https://patentgrep.com/patent/US4651283A

## CPC

- B23K 26/04: Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B25J 9/1692: {Calibration of manipulator}
- G01B 11/002: {for measuring two or more coordinates}
- G01B 11/007: {feeler heads therefor}
- G01S 5/16: using electromagnetic waves other than radio waves
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

An installation for determining the spatial coordinates of a point (P) on a piece (7) in particular for controlling a plant such as a welding plant for car bodies of motor vehicles. The installation is characterized in that it comprises a head (11) movable in a plane (X-Y) and produces a signal as a function of the distance of the point (P) in relation to the plane (X-Y), a rotor (13) on the head (11), this rotor comprising means for projecting a rotating laser beam (21.sub.4), at least three fixed targets (Q, R, S) arranged in the plane (X-Y) and the coordinates of which in this plane are known, these targets being capable of producing a signal as a function of the position (X.sub.P -Y.sub.P) of the head (11) and hence of the point to be measured (P) in the plane (X-Y). The invention is applicable to an installation for determining the spatial coordinates of a point.

## Claims

### Claim 1

Installation for determining the spatial coordinates of a point (P) on a piece (7), in particular for controlling a plant such as a welding plant for the car bodies of motor vehicles, which installation is characterised in that it comprises a head (11) displaceable in a plane (X-Y), a laser beam position detector on the head, which position detector comprises means (21) for projecting a laser beam (21.sub.1) to the point (P) of the piece (7) of which the coordinates are required to be measured and a detector (22) for receiving the laser beam (21.sub.3) reflected from the piece (7) at the point (P) in order to produce a signal which is a function of the distance of the point (P) from the plane (X-Y), a rotor (13) on the head (11), the axis of rotation (11.sub.1) of this rotor being perpendicular to the plane (X-Y), this rotor comprising means (26) for projecting a rotating laser beam (21.sub.4), at least three fixed targets (Q, R, S) placed in the plane (X-Y) and the coordinates of which in this plane are known, these tarets being capable of producing a signal as a function of the position (X.sub.p, Y.sub.p) of the head (11) and hence of the point to be measured (P) in the plane (X-Y), calculating means for receiving the two signals (23,28) and determining the spatial coordinates (X.sub.p, Y.sub.p and Z.sub.p) of the point to be measured (P), and display means (15) for displaying these coordinates.

### Claim 2 (depends on 1)

Installation according to claim 1 characterised in that the targets (Q, R, S) are passive targets and reflect the lasert beam (21.sub.4) projected by the rotor (13) of the head to a detector (28) provided on the rotor and produce a signal as a function of the position (X.sub.p, Y.sub.p) of the head.

### Claim 3 (depends on 1)

Installation according to claim 1, characterised in that the axis of rotation of the rotor (13) of the head coincides with the axis (11.sub.1) of the incident laser beam (21.sub.1) produced by the position detector (12, 21, 22) of this head.

### Claim 4 (depends on 1)

Installation according to claim 1 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

### Claim 5 (depends on 2)

Installation according to claim 2 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

### Claim 6 (depends on 3)

Installation according to claim 3 characterized in that the head (11) is displaceable by translation in the plane (X-Y) by pivoting on an arm (10) which in turn pivots on a fixed pedestal (9).

### Claim 7 (depends on 1)

Installation according to claim 1 characterized in that the means (21) of the position detector projecting a laser beam (21.sub.1) along the axis (11.sub.1) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19.sub.1) from a laser beam generator (19) and producing two coaxial laser beams (21.sub.1 and 21.sub.2) in opposite directions, one (21.sub.1) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21.sub.2) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21.sub.4).

### Claim 8 (depends on 2)

Installation according to claim 2 characterized in that the means (21) of the position detector projecting a laser beam (21.sub.1) along the axis (11.sub.1) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19.sub.1) from a laser beam generator (19) and producing two coaxial laser beams (21.sub.1 and 21.sub.2) in opposite directions, one (21.sub.1) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21.sub.2) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21.sub.4).

### Claim 9 (depends on 3)

Installation according to claim 3 characterized in that the means (21) of the position detector projecting a laser beam (21.sub.1) along the axis (11.sub.1) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19.sub.1) from a laser beam generator (19) and producing two coaxial laser beams (21.sub.1 and 21.sub.2) in opposite directions, one (21.sub.1) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21.sub.2) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21.sub.4).

### Claim 10 (depends on 4)

Installation according to claim 4 characterized in that the means (21) of the position detector projecting the laser beam (21.sub.1) along the axis (11.sub.1) perpendicular to the plane (X-Y) consists of a laser beam divider receiving the incident laser beam (19.sub.1) from a laser beam generator (19) and producing two coaxial laser beams (21.sub.1 and 21.sub.2) in opposite directions, one (21.sub.1) of these beams being directed to the point (P) of the piece (7) to be reflected to the detector means (22) of the position detector, while the other (21.sub.2) of these beams is directed to the means (26) of the rotor producing the rotating laser beam (21.sub.4).

### Claim 11 (depends on 1)

Installation according to claim 1 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19.sub.1) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21.sub.1) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11.sub.1) of the head and which pass over the targets (Q, R, S).

### Claim 12 (depends on 2)

Installation according to claim 2 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19.sub.1) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21.sub.1) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11.sub.1) of the head and which pass over the targets (Q, R, S).

### Claim 13 (depends on 3)

Installation according to claim 3 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19.sub.1) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21.sub.1) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11.sub.1) of the head and which pass over the targets (Q, R, S).

### Claim 14 (depends on 4)

Installation according to claim 4 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to a laser beam generator (19) to produce a pulsed laser beam (19.sub.1) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21.sub.1) reflect to the detector (28) of the rotor targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11.sub.1) of the head and which pass over the targets (Q, R, S).

### Claim 15 (depends on 10)

Installation according to claim 10 characterized in that a sequencer (30) is driven synchronously with the rotor (13), the pulses produced by this sequencer being transmitted to the laser beam generator (19) to produce a pulsed laser beam (19.sub.1) the pulses of which are the function of the angular position of the rotor, the pulses of the laser beam (21.sub.1) reflect to the detector (28) of the rotor by the targets (Q, R, S) determining an information of the position of the head (11) from the value of the angles of which the apex is formed by the axis (11.sub.1) of the head and which pass over the targets (Q, R, S).

### Claim 16 (depends on 1)

Installation according to claim 1 characterized in that a computer compares the coordinates (X.sub.p, Y.sub.p and Z.sub.p) obtained from the detectors (22, 28) of the movable head with the memorized numerical information of the form of the part or parts of the car body to be assembled.

### Claim 17 (depends on 2)

Installation according to claim 2 characterized in that a computer compares the coordinates (X.sub.p, Y.sub.p and Z.sub.p) obtained from the detectors (22, 28) of the movable head with the memorized numerical information of the form of the part or parts of the car body to be assembled.