Method and apparatus for determining the configuration of a workpiece

Abstract

The present invention provides a method and an apparatus for scanning an object to obtain data on the object and determine the configuration of the object. A gantry ( 12 ) allows movement along a first direction (A-A′). A set of platforms ( 14 A, 14 B) allows movement along a second direction (B-B′). A set of scanning heads ( 16 A, 16 B) provide additional degrees of freedom and also provide for scanning the object ( 10 ) to obtain information about the object. The freedom of movement provided by the gantry, the platforms, and the scanning heads allows the object to be completely scanned. In addition, once the initial scanning process has been completely, areas which require additional scanning, such as compartments ( 10 D), are identified. The scanning heads are then positioned, such as directly above or inside a compartment, and then the compartment is scanned to obtain information about the compartment that could not be obtained from the initial scanning procedure. The data obtained from the initial scan and any subsequent scans is processed to determine the configuration of the object. The information concerning the configuration is then used to perform a welding, cutting or other operation on the object.

I claim:  
     
         1 . A method for determining the configuration of an object, comprising the steps of: 
 setting a first position;    scanning said object from said first position to a second position to obtain data on said object;    setting a next position;    scanning said object from said next position to a subsequent position to obtain additional data on said object;    repeating said steps of setting said next position and scanning from said next position to said subsequent position to obtain additional data on said object until the desired portion of said object has been scanned;    processing said data to determine said configuration of said object; and    providing said configuration to a subsequent process.    
     
     
         2 . A method for determining the configuration of an object, comprising the steps of: 
 scanning said object in a first manner to obtain data on said object;    scanning said object in a second manner to obtain additional data on said object;    processing said data to determine said configuration of said object; and    providing said configuration to a subsequent process.    
     
     
         3 . A method for determining the configuration of an object, comprising the steps of: 
 scanning said object in a linear manner to obtain data on said object;    identifying areas of said object for which additional data is needed;    scanning said areas to obtain said additional data;    processing said data and said additional data to determine said configuration of said object; and    providing said configuration to a subsequent process.    
     
     
         4 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first path;    second means for moving said scanning means along a second path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, and for processing said data to determine said configuration of said object.    
     
     
         5 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first path;    second means for moving said scanning means along a second path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, for processing said data to determine areas of said object for which additional data is needed, for controlling the operation of said scanning means, said first means, and said second means to obtain said additional data, and processing said data and said additional data to determine said configuration of said object.    
     
     
         6 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first linear path;    second means for moving said scanning means along a second linear path orthogonal to said first linear path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, and for processing said data to determine said configuration of said object.    
     
     
         7 . A method for determining the configuration of an object, comprising the steps of: 
 scanning said object to obtain a set of data points for said object;    inspecting said set of data points to define a first plane, said first plane comprising a first plurality of said data points, said first plurality being smaller than said set and being part of said set;    inspecting said set of data points to define a second plane, said second plane comprising a second plurality of said data points, said second plurality being smaller than said set and being part of said set;    determining an intersection line for said first plane and said second plane; and    specifying said intersection line by at least a starting point and an ending point.    
     
     
         8 . A method for determining the configuration of an object, comprising the steps of: 
 scanning said object to obtain a set of data points for said object;    inspecting said set of data points to define a first plane, said first plane comprising a first plurality of said data points, said first plurality being smaller than said set and being part of said set;    inspecting said set of data points to define a second plane, said second plane comprising a second plurality of said data points, said second plurality being smaller than said set and being part of said set;    determining an intersection line for said first plane and said second plane;    determining whether said intersection line is a straight line or is a curved line;    if said intersection line is a straight line then specifying said intersection line by at least a starting point and an ending point; and    if said intersection line is a curved line then specifying a plurality of points for said intersection line.    
     
     
         9 . The method of    claim 8    wherein said step of specifying said plurality of points for said intersection line if said intersection line is a curved line comprises: 
 selecting a first point and a second point for said intersection line, said first point and said second point being points on said intersection line and being separated by a first distance;  
 defining a direct line by said first point and said second point;  
 defining a desired curved line by said first point, said second point, and points on said intersection line between said first point and said second point;  
 determining a maximum difference between said direct line and said desired curved line;  
 if said maximum difference is greater than a predetermined amount then selecting a different second point, said different second point being separated from said first point by less than said first distance; and repeating said steps of defining said direct line, defining said desired curved line, and determining said maximum difference until said maximum difference is not greater than said predetermined amount; and  
 when said first point and said second point have been selected wherein said maximum difference is not greater than said predetermined amount, storing said first point and said second point and then, using said second point as a next said first point, repeating the above steps until said plurality of points for said intersection line have been selected.  
 
     
     
         10 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first path;    second means for moving said scanning means along a second path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, for processing said data to define a first plane and a second plane, for determining an intersection line for said first plane and said second plane, and for specifying said intersection line by at least a starting point and an ending point.    
     
     
         11 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first path;    second means for moving said scanning means along a second path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, for processing said data to define a first plane and a second plane, for determining an intersection line for said first plane and said second plane, for determining whether said intersection line is a straight line or is a curved line, for specifying said intersection line by at least a starting point and an ending point if said intersection line is a straight line, and for specifying a plurality of points for said intersection line if said intersection line is a curved line.    
     
     
         12 . An apparatus for determining the configuration of an object, comprising: 
 scanning means for scanning said object to obtain data on said object;    first means for moving said scanning means along a first path;    second means for moving said scanning means along a second path; and    control means for controlling the operation of said scanning means, said first means, and said second means, for receiving said data, for processing said data to define a first plane and a second plane, for determining an intersection line for said first plane and said second plane, for determining whether said intersection line is a straight line or is a curved line, for specifying said intersection line by at least a starting point and an ending point if said intersection line is a straight line, and, if said intersection line is a curved line then for selecting a first point and a second point for said intersection line, said first point and said second point being points on said intersection line and being separated by a first distance, for defining a direct line by said first point and said second point, for defining a desired curved line by said first point, said second point, and points on said intersection line between said first point and said second point, for determining a maximum difference between said direct line and said desired curved line, for selecting a different second point if said maximum difference is greater than a predetermined amount, said different second point being separated from said first point by less than said first distance, until said maximum difference is not greater than said predetermined amount, and then for storing said first point and said second point, for using said second point as a next said first point, and for defining additional direct lines until said plurality of points for said intersection line have been selected.