Laser scanner scanning using computer numerical controlled (CNC) system for movement

Abstract

To provide a method and apparatus for inspection of large parts reduced in inspection time and / or operation time.SOLUTION: A first surface (146) of a part (111) is scanned with a laser scanner (102) as a platform (108) of a computer numerical controlled (CNC) gantry tool (110) moves relative to the part to form scan data (148), the laser scanner (102) being connected to the platform (108) of the computer numerical controlled (CNC) gantry tool (110). Differences (152) between the first surface (146) and design (154) for the first surface (146) are determined using the scan data (148).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates generally to manufacturing, and more particularly to achieving a reduced gap between two parts in manufacturing. More particularly, the present disclosure relates to an apparatus and method for scanning a part to reduce the gap between that part and a second part. [Background technology]

[0002] During aircraft manufacturing, shims may be placed between parts. For example, a shim may be placed between a panel and a rib or spar connected to the panel. The placement and manufacture of shims requires time and expertise.

[0003] Currently, inspection tools are deployed in manufacturing areas to inspect large parts. Setting up and operating these inspection tools requires labor time and expertise. The inspection time increases the manufacturing cycle time of the part. Additionally, the accuracy of the inspection impacts the inspection time.

[0004] It would therefore be desirable to provide a method and apparatus that takes into account at least some of the above considerations, as well as other potential considerations, such as a method and apparatus for inspecting large parts that can reduce at least one of inspection time and labor time. Summary of the Invention

[0005] An exemplary embodiment of the present disclosure provides a method for scanning a first surface of a part with a laser scanner coupled to the platform of a computer numerically controlled (CNC) gantry tool as the platform moves relative to the part to generate scan data, and for determining differences between the first surface and a design for the first surface using the scan data.

[0006] An exemplary embodiment of the present disclosure provides a system including a laser scanner, a connection assembly secured to the laser scanner, and a laser scanner motion support assembly operatively connected to the laser scanner, the connection assembly configured to removably connect the laser scanner to a platform of a computer numerically controlled (CNC) gantry tool, and the laser scanner motion support assembly configured to be connected to the computer numerically controlled (CNC) gantry tool.

[0007] Another exemplary embodiment of the present disclosure provides a method: connecting a connection assembly to a platform of a computer numerically controlled (CNC) gantry tool, the connection assembly being secured to a laser scanner; moving the platform of the computer numerically controlled (CNC) gantry tool relative to a part; scanning a first side of the part with the laser scanner as the platform of the computer numerically controlled (CNC) gantry tool moves relative to the part to generate scan data;

[0008] Another exemplary embodiment of the present disclosure provides a method: connecting a laser scanner to a computer numerically controlled (CNC) gantry tool; connecting a laser scanner motion support assembly to the computer numerically controlled (CNC) gantry tool; moving a platform of the computer numerically controlled (CNC) gantry tool relative to a part; and controlling the motion of the laser scanner using the laser scanner motion support assembly. As the platform of the computer numerically controlled (CNC) gantry tool moves relative to the part, the laser scanner scans a first side of the part to generate scan data.

[0009] These features and functions can be achieved individually in various embodiments of the present disclosure and can also be combined in other embodiments, details of which will become apparent from the following description and drawings. [Brief explanation of the drawings]

[0010] The novel features believed characteristic of the exemplary embodiments are set forth in the appended claims, and the exemplary embodiments and preferred modes of use, as well as their objects and features, will best be understood by reference to the following detailed description of exemplary embodiments of the present disclosure, taken in conjunction with the accompanying drawings, in which:

[0011] [Figure 1] FIG. 1 is a block diagram of a manufacturing environment in which a laser scanner connected to a computer numerically controlled (CNC) gantry tool scans a part in accordance with an illustrative embodiment. [Figure 2] FIG. 1 illustrates a front view of an inspection system including a laser scanner connected to a computer numerically controlled (CNC) gantry tool in a manufacturing environment, according to an exemplary embodiment. [Figure 3] FIG. 1 illustrates a side view of an inspection system including a laser scanner connected to a computer numerically controlled (CNC) gantry tool in a manufacturing environment, according to an exemplary embodiment. [Figure 4] FIG. 1 is an illustration of a manufacturing environment having a computer numerically controlled (CNC) gantry tool, a laser scanner, and a laser scanner motion support assembly in accordance with an illustrative embodiment. [Figure 5] FIG. 1 is an illustration of a laser scanner and connection assembly in accordance with an illustrative embodiment. [Figure 6] FIG. 1 illustrates a diagram of two laser scanners and a connection assembly according to an exemplary embodiment. [Figure 7] FIG. 1 is an illustration of a laser scanner motion support assembly in accordance with an illustrative embodiment. [Figure 8]1 illustrates a part and a second part, the second part being manufactured based on a difference between a first side of the part and a design of the first side, according to an exemplary embodiment. [Figure 9] 1 is an illustration of a part and a shim manufactured based on a difference between a first side of the part and a design of the first side, according to an illustrative embodiment. [Figure 10] FIG. 10 illustrates noise reduction in scan data from a laser scanner in accordance with an illustrative embodiment. [Figure 11] FIG. 10 illustrates the amount of laser pulses between position updates of a computer numerically controlled (CNC) gantry tool in accordance with an exemplary embodiment. [Figure 12] FIG. 1 is an illustration of a flowchart of a method for scanning a part with a laser scanner in accordance with an illustrative embodiment. [Figure 13] 10 is another flowchart of a method for scanning a part with a laser scanner in accordance with an illustrative embodiment. [Figure 14] 10 is yet another flowchart of a method for scanning a part with a laser scanner in accordance with an illustrative embodiment. [Figure 15] 1 is an illustration of an aircraft manufacturing and service method in accordance with an illustrative embodiment; [Figure 16] FIG. 1 is a block diagram of an aircraft in which an illustrative embodiment may be implemented; DETAILED DESCRIPTION OF THE INVENTION

[0012] The illustrative embodiments recognize and take into account one or more different considerations. For example, the illustrative embodiments recognize and take into account the desirability of reducing manufacturing costs and time. In the illustrative embodiments, the shims of aircraft components are It is recognized and taken into account that predicting a shim can reduce at least one of manufacturing costs or time. In an exemplary embodiment, it is recognized and taken into account that manufacturing parts without shims can reduce at least one of manufacturing costs or time. In an exemplary embodiment, it is recognized and taken into account that predicting a shim or manufacturing parts without shims can significantly reduce labor time. In an exemplary embodiment, it is recognized and taken into account that predicting a shim or manufacturing parts without shims can enable a more automated process.

[0013] The exemplary embodiments recognize and take into account that a high-precision, high-speed scanning method is desirable to achieve at least one of shim prediction and shimless part manufacturing. The exemplary embodiments recognize and take into account that a high-precision, high-density scan data acquisition from one or both of the mating parts is desirable to achieve at least one of shim prediction and shimless part manufacturing. The exemplary embodiments recognize and take into account that such scan data can be used to create a previously predicted shim. The exemplary embodiments also recognize and take into account that such scan data can be used to achieve shimless manufacturing by machining a second part to match the first part.

[0014] The illustrative embodiments recognize and take into account that the larger the part, the more difficult it is to produce scan data with a desired accuracy. For example, the illustrative embodiments recognize and take into account that it may be difficult to produce scan data with a desired accuracy for an aircraft wing.

[0015] The illustrative embodiments recognize and take into account that scanning large structures using a conventional laser tracker is limited by the distance the laser tracker can reach. The illustrative embodiments recognize and take into account that using a conventional laser tracker requires multiple setups to scan a large part. The illustrative embodiments recognize and take into account that each setup consumes labor time and adds to the manufacturing cycle time of the part. The illustrative embodiments recognize and take into account that scanning an aircraft wing may take eight hours or more with a conventional laser tracker system.

[0016] The illustrative embodiments recognize and take into account that the accuracy of a conventional laser tracker decreases as the distance from the laser tracker to the scan location increases. The illustrative embodiments recognize and take into account that the accuracy of a conventional laser tracker is affected by temperature changes.

[0017] The exemplary embodiment recognizes and takes into account that if a laser inspection system does not have the desired resolution, another laser inspection system with higher accuracy and resolution will typically be selected.

[0018] The exemplary embodiment recognizes and takes into account that operators desire easy setup of equipment. The exemplary embodiment recognizes and takes into account that it is desirable to minimize cables, such as power cables, data transmission cables, or other utility lines, within a manufacturing environment.

[0019] The illustrative embodiments recognize and take into account the desirability of reducing the cost of scanning equipment. The illustrative embodiments provide for the efficient and cost-effective implementation of large-scale predictive shimming or shimless manufacturing by acquiring scan data with desired accuracy and speed. An apparatus and method for achieving at least one of the above is provided.

[0020] Referring now to the drawings, and in particular to FIG. 1, a laser scanner coupled to a computer numerically controlled (CNC) gantry tool is shown in accordance with an exemplary embodiment. 1 illustrates a block diagram of a manufacturing environment in which a laser scanner scans a part. The manufacturing environment 100 includes a laser scanner 102, a connection assembly 104, and a laser scanner motion support assembly 106. The connection assembly 104 is fixed to the laser scanner 102. The connection assembly 104 is configured to removably connect the laser scanner 102 to a platform 108 of a computer numerically controlled (CNC) gantry tool 110. The laser scanner motion support assembly 106 is operatively connected to the laser scanner 102 and is configured to be connected to the computer numerically controlled (CNC) gantry tool 110.

[0021] By connecting the laser scanner 102 to a computer numerically controlled (CNC) gantry tool 110, the movement of the computer numerically controlled (CNC) gantry tool 110 can be used to move the laser scanner 102 within the manufacturing environment 100. The computer numerically controlled (CNC) gantry tool 110 can be used in the manufacturing process prior to inspection with the laser scanner 102.

[0022] By connecting the laser scanner 102 to a computer numerically controlled (CNC) gantry tool 110, existing motion systems can be utilized. By connecting the laser scanner 102 to the computer numerically controlled (CNC) gantry tool 110, the indexing of the part 111 relative to the computer numerically controlled (CNC) gantry tool 110 can be directly applied to the laser scanner 102. By connecting the laser scanner 102 to the computer numerically controlled (CNC) gantry tool 110, an additional motion system for the laser scanner 102 does not need to be introduced into the manufacturing environment 100.

[0023] By connecting the laser scanner 102 to a computer numerically controlled (CNC) gantry tool 110, a desired high overall accuracy and a desired high precision can be achieved. By connecting the laser scanner 102 to a computer numerically controlled (CNC) gantry tool 110, a higher overall accuracy can be achieved than with a stand-alone metrology system. By connecting the laser scanner 102 to a computer numerically controlled (CNC) gantry tool 110, the laser scanner 102 can be part of an aftermarket component. Although a computer numerically controlled (CNC) gantry tool 110 is shown, the laser scanner 102 can be connected to any desired system.

[0024] The connection assembly 104 includes a positioning member 112 and an adapter plate 114. The laser scanner 102 is secured to the adapter plate 114 of the connection assembly 104. The positioning member 112 is configured to enable repeatable alignment of the laser scanner 102 with respect to the platform 108 of the computer numerically controlled (CNC) gantry tool 110. The positioning member 112 has sufficient precision to allow a single calibration, i.e., a reusable calibration 116, of the laser scanner 102 mounted on the computer numerically controlled (CNC) gantry tool 110 to be applied to each subsequent mounting of the laser scanner 102 to the computer numerically controlled (CNC) gantry tool 110. Using the reusable calibration 116 for each subsequent mounting of the laser scanner 102 to the computer numerically controlled (CNC) gantry tool 110 reduces the setup time of the inspection system 118.

[0025] In some exemplary embodiments, the inspection system 118 optionally includes a second laser scanner. The second laser scanner 120 may include a second laser scanner 120. When the second laser scanner 120 is present, both the laser scanner 102 and the second laser scanner 120 are fixed to the adapter plate 114. When the second laser scanner 120 is present, the scan width 122 of the inspection system 118 is increased. Increasing the scan width 122 reduces the scan time of the part 111. Increasing the scan width 122 reduces the number of scans of the entire part 111 by the inspection system 118.

[0026] In some illustrative examples, part 111 is a component 124 of aircraft 126. Part 111 may take the form of any desired component of aircraft 126. In some illustrative examples, part 111 is at least one of a rib, a spar, or a panel. In some illustrative examples, part 111 is a portion of a wing of aircraft 126.

[0027] As shown, the laser scanner operation support assembly 106 includes a real-time central processing unit (CPU) 128, a laser controller 130, and at least one of an RF wireless coupler 132 or an optical coupler 134. As used herein, the phrase "at least one of" when used with respect to a list of items means that one or more of the listed items may be used in various combinations, and that only one of each item in the list may be required. In other words, "at least one of" means that any number of items from the list may be used in any combination, and not necessarily all of the listed items. An item may be a particular object, thing, or category.

[0028] This example also includes items A, B, and C, and items B and C. Of course, any combination of these items is possible. In other examples, "at least one of" may be, but is not limited to, two items A, one item B, and ten items C; four items B and seven items C; or any other suitable combination.

[0029] At least one of the RF wireless coupler 132 or the optical coupler 134 is used for communication between the real-time central processing unit (CPU) 128 and at least one of the CNC controller 138 or the computer numerically controlled (CNC) gantry tool 110. The CNC controller 138 communicates with the computer numerically controlled (CNC) gantry tool 110 and the real-time central processing unit (CPU) 128 of the laser scanner motion support assembly 106. Both the RF wireless coupler 132 and the optical coupler 134 provide communication without the need for wire placement within the computer numerically controlled (CNC) gantry tool 110, which would require significant time and operator effort.

[0030] In some demonstrative embodiments, the real-time central processing unit (CPU) 128 includes a high-speed field programmable gate array (FPGA) 136. When present, the high-speed field programmable gate array (FPGA) 136 allows for faster data transfer.

[0031] In some exemplary embodiments, the laser scanner motion support assembly 106 further includes a battery 140. In such exemplary embodiments, the battery 140 is electrically connected to the laser controller 130 and the real-time central processing unit (CPU) 128.

[0032] In some exemplary embodiments, the components of the laser scanner motion support assembly 106 are housed in a housing 142. The housing 142 is configured to be removably connected to the computer numerically controlled (CNC) gantry tool 110. The housing 142 may have any desired configuration. In some exemplary embodiments, the housing 142 may also be referred to as a "box." In some exemplary embodiments, the battery 140, the real-time central processing unit (CPU) 128, and the laser controller 130 are contained in the housing 142, which is removably connected to the computer numerically controlled (CNC) gantry tool 110.

[0033] Connecting the components of the laser scanner motion support assembly 106 to the computer numerically controlled (CNC) gantry tool 110 shortens the length of the cable 144 connecting the laser scanner 102 to the laser scanner motion support assembly 106. Reducing the length of the cable 144 reduces the laser noise of the laser scanner 102.

[0034] The presence of the battery 140 allows for fewer cables within the test system 118. Also, the presence of the battery 140 shortens the power cables within the test system 118.

[0035] While the laser scanner 102 is mounted on a computer numerically controlled (CNC) gantry tool 110, the laser scanner 102 scans a first surface 146 of the part 111 to generate scan data 148. The scan data 148 may take any desired form. In some exemplary embodiments, the scan data 148 takes the form of a series of points. In some exemplary embodiments, the scan data 148 may have more sampling of a target area of ​​the first surface 146. In some exemplary embodiments, the scan data 148 may have more sampling of an area where the part 111 will mate with another part. For example, if the part 111 is a panel configured to receive ribs, the scan data 148 may include more sampling of an area where the ribs will be inserted.

[0036] In some example embodiments, scan data 148 is extracted or selectively stored, for example, laser scanner 102 scans the entire first surface 146, but only points within the area of ​​interest are extracted and stored.

[0037] As shown, scan data 148 is stored on computer 150. In other exemplary embodiments, scan data 148 is stored at a location other than computer 150. Scan data 148 can be stored at any desired location.

[0038] The scan data 148 can be used for shimless manufacturing or for predictive shim formation. Differences 152 between the first surface 146 and a design 154 for the first surface 146 are determined using the scan data 148. In some illustrative embodiments, shims 156 are manufactured based on the differences 152. In these illustrative embodiments, the differences 152 are used for predictive shim formation.

[0039] In some demonstrative embodiments, design 158 of second surface 160 of second part 162 is modified using difference 152 to create modified design 164. Modified design 164 is created to match first surface 146 of part 111. Modified design 164 for second part 162 allows for the shim between part 111 and second part 162 to be eliminated, enabling shimless manufacturing.

[0040] In some exemplary embodiments, the part 111 is a panel and the second part 162 is a rib. In such exemplary embodiments, there may be a gap in the Z direction between the rib and the panel. In such exemplary embodiments, there is a difference 152 in the Z direction, which is perpendicular to the part 111. In such exemplary embodiments, a shim 156 is used to fill the gap in the Z direction, which is perpendicular to the part 111. Although the difference 152 in the Z direction is described, the difference 152 may exist in any axial direction.

[0041] The laser scanner 102 is cost-effective. It is desirable to improve accuracy while keeping costs down. In some exemplary embodiments, the laser range is at the limit. Optimization 166 is performed to improve the data quality of the scan data 148 .

[0042] Lasers are sensitive to distance and range, including the laser scanner 102. Laser range optimization 166 allows for compensation of the laser position at a set range.

[0043] Laser range optimization 166 is performed by scanning a flat surface with the laser scanner 102. Each laser has a unique signature. The scanner 102 may have a signature that is unique to the laser scanner 102. The shape of the scan data obtained by scanning a flat surface with the laser scanner 102 is used to compensate for the signature of the laser scanner 102. In some example embodiments, laser range optimization 166 creates a lookup table to compensate for the signature of the laser scanner 102.

[0044] Laser range optimization 166 increases the resolution of laser scanner 102. Laser range optimization 166 allows for improvements to laser scanner 102 without replacing laser scanner 102 with a higher resolution laser scanner.

[0045] By performing timing compensation interpolation 168 , correlates the position of the computer numerically controlled (CNC) gantry tool 110 with the position of the laser scanner 102. The timing compensation interpolation 168 accounts for the delay between the receipt of data from the computer numerically controlled (CNC) gantry tool 110 by the real-time central processing unit (CPU) 128 and the actual position of the real-time central processing unit (CPU) 128. The timing compensation interpolation 168 allows sampling from the laser scanner 102 to occur more frequently than the position updates of the computer numerically controlled (CNC) gantry tool 110.

[0046] Timing compensation interpolation 168 allows the laser scanner 102 to be pulsed between position updates of the computer numerically controlled (CNC) gantry tool 110. Timing compensation interpolation 168 allows for increased scanning speed of the part 111.

[0047] In some demonstrative embodiments, the spacing between data points in the scan data 148 is assumed to be linear for timing compensation interpolation 168. Timing compensation interpolation 168 also accounts for system delays in communication between the computer numerically controlled (CNC) gantry tool 110 and the inspection system 118.

[0048] The illustration of manufacturing environment 100 in FIG. 1 is not meant to imply physical or architectural limitations to the manner in which an illustrative embodiment may be implemented. Other components in addition to or in place of the illustrated components may be used. Some components may be unnecessary. Additionally, the illustrated blocks represent some functional components. In an illustrative implementation, these blocks may be used in conjunction with other components. When implementing the block, one or more of them can be combined, divided, or combined and then divided into different blocks.

[0049] Referring now to Figure 2, a front view of an inspection system including a laser scanner connected to a computer numerically controlled (CNC) gantry tool in a manufacturing environment is shown, according to an example embodiment. Manufacturing environment 200 is an example physical realization of manufacturing environment 100 of Figure 1. Manufacturing environment 200 includes a computer numerically controlled (CNC) gantry tool 202, a laser scanner 2204, and a laser scanner motion support assembly 206.

[0050] The computer numerically controlled (CNC) gantry tool 202 is an example of a physical implementation of the computer numerically controlled (CNC) gantry tool 110 of Figure 1. The computer numerically controlled (CNC) gantry tool 202 moves within the manufacturing environment 200 to perform operations on a part 208. The computer numerically controlled (CNC) gantry tool 202 can be used to move the laser scanner 204 within the manufacturing environment 200 by attaching a laser scanner 204 to a platform 210 of the computer numerically controlled (CNC) gantry tool 202.

[0051] The computer numerically controlled (CNC) gantry tool 202 has the desired accuracy for scanning the part 208 with the laser scanner 204. In some example embodiments, a timing compensated interpolation is performed to correlate the position of the computer numerically controlled (CNC) gantry tool 202 with the position of the laser scanner 204. The timing compensated interpolation accounts for the delay between receiving data from the computer numerically controlled (CNC) gantry tool 202 and the actual position. The timing compensated interpolation (not shown) allows sampling from the laser scanner 204 to occur more frequently than the position updates of the computer numerically controlled (CNC) gantry tool 202.

[0052] Connecting the laser scanner motion support assembly 206 to the computer numerically controlled (CNC) gantry tool 202 shortens the connection between the laser scanner motion support assembly 206 and the laser scanner 204. Connecting the laser scanner motion support assembly 206 to the computer numerically controlled (CNC) gantry tool 202 reduces noise from the laser scanner 204.

[0053] After scanning the part 208, the laser scanner 204 and the laser scanner motion support assembly 206 can be removed from the computer numerically controlled (CNC) gantry tool 202. After removing the laser scanner 204 and the laser scanner motion support assembly 206, the computer numerically controlled (CNC) gantry tool 202 can be used for manufacturing operations.

[0054] 3, a side view of an inspection system including a laser scanner connected to a computer numerically controlled (CNC) gantry tool in a manufacturing environment is shown, according to an exemplary embodiment. A cable 300 is visible between the laser scanner motion support assembly 206 and the laser scanner 204. The cable 300 may be restrained to keep it outside the processing area of ​​the computer numerically controlled (CNC) gantry tool 202.

[0055] 4, a manufacturing environment having a computer numerically controlled (CNC) gantry tool, a laser scanner, and a laser scanner motion support assembly is shown, according to an exemplary embodiment. In view 400, the laser scanner 204 and the laser scanner motion support assembly 206 are not connected to the computer numerically controlled (CNC) gantry tool 202. As shown, the computer numerically controlled (CNC) The gantry tool 202 is used to perform manufacturing operations such as milling or drilling. can be carried out.

[0056] 5, a laser scanner and connection assembly is shown in accordance with an exemplary embodiment. As shown in view 500, laser scanner 502 is not yet secured to connection assembly 504. Laser scanner 502 can be secured to adapter plate 506 of connection assembly 504 using any desired fasteners. Laser scanner 502 is an example physical implementation of laser scanner 102 of FIG. 1.

[0057] Connection assembly 504 is an example physical realization of connection assembly 104 of Figure 1. Connection assembly 504 is a mechanical attachment that repeatably positions laser scanner 502 relative to a computer numerically controlled (CNC) gantry tool, such as computer numerically controlled (CNC) gantry tool 110 of Figure 1 or computer numerically controlled (CNC) gantry tool 202 of Figure 2.

[0058] As shown, a positioning element 508 extends from the adapter plate 506 in a direction away from the laser scanner 502. As shown, the positioning element 508 takes the form of a shaft 510. The shaft 510 may also be referred to as a dowel pin. The positioning element 508 is positioned relative to a shaft of a computer numerically controlled (CNC) gantry tool. As shown, the shaft 510 has a flat surface 512 visible. The flat surface 512 allows for repeatable clocking.

[0059] Referring now to FIG. 6, two laser scanners and a connection assembly are shown in accordance with an exemplary embodiment. As shown in view 600, laser scanner 602 and second laser scanner 603 are not yet secured to connection assembly 604. Laser scanner 602 and second laser scanner 603 can be secured to adapter plate 606 of connection assembly 604 using any desired fasteners. Laser scanner 602 is a physical implementation of laser scanner 102 of FIG. 1. Second laser scanner 603 is a physical implementation of second laser scanner 120.

[0060] Connection assembly 604 is an example physical realization of connection assembly 104 of Figure 1. Connection assembly 604 is a mechanical attachment that repeatably positions laser scanner 602 and second laser scanner 603 relative to a computer numerically controlled (CNC) gantry tool, such as computer numerically controlled (CNC) gantry tool 110 of Figure 1 or computer numerically controlled (CNC) gantry tool 202 of Figure 2.

[0061] As shown, a positioning element 608 extends from the adapter plate 606 in a direction away from the laser scanner 602. As shown, the positioning element 608 takes the form of a shaft 610. The shaft 610 may also be referred to as a dowel pin. The positioning element 608 is positioned relative to the shaft of a computer numerically controlled (CNC) gantry tool. As shown, the shaft 610 has a flat surface 612 visible. The flat surface 612 allows for repeatable clocking.

[0062] Referring now to Figure 7, a laser scanner motion support assembly is shown in accordance with an exemplary embodiment. Laser scanner motion support assembly 700 is an example physical implementation of laser scanner motion support assembly 106 of Figure 1. As shown, a real-time central processing unit (CPU) 702, a laser controller 704, and a battery 706 are contained within a container 708. The container 708 is configured to be mounted to a computer numerically controlled (CNC) gantry tool. View 710 is a representation of the interior of laser scanner motion support assembly 206, for example, of Figure 3.

[0063] In some exemplary embodiments, there may be more or fewer components in the laser scanner motion support assembly 700. For example, the battery 706 is optional.

[0064] 8, an exemplary embodiment illustrates a part and a second part, where the second part is manufactured based on a difference between the first side and the first side design of the part. View 800 shows part 802 and second part 804. Part 802 is an example of a physical realization of part 111 from FIG. 1. Second part 804 is an example of a physical realization of second part 162 from FIG. 1.

[0065] Preferably, first surface 806 contacts second surface 808 when assembled. In such an exemplary embodiment, second part 804 can be manufactured based on the design differences between first surface 806 of part 802 and first surface 806. Second surface 808 is manufactured to match first surface 806. Second surface 808 is manufactured to provide shim-less manufacturing.

[0066] Referring now to FIG. 9 , a part and shim are shown, according to an illustrative embodiment, where the shim has been manufactured based on differences between a first side of the part and a design of the first side. View 900 shows part 902 and shim 904. Part 902 is a physical implementation of part 111 from FIG. 1 . Shim 904 is a physical implementation of shim 156 from FIG. 1 . Shim 904 has been manufactured based on differences between a first side 906 of part 902 and a design of first side 906. Shim 904 is a result of predictive shimming. In some illustrative examples, shim 904 is also manufactured based on differences between a second side 908 of a second part 910 and a design of second side 908.

[0067] Referring now to FIG. 10 , noise reduction in scan data from a laser scanner is illustrated in accordance with an exemplary embodiment. In FIG. 10 , scan data 1000 is data of a flat surface without laser range optimization. Scan data 1000 can be created using laser scanner 102 of FIG. 1 or laser scanner 204 of FIG. 2 . Scan data 1002 is data of a flat surface with laser range optimization. Scan data 1000 is not substantially flat. Scan data 1000 has a peak 1004.

[0068] Scan data 1002 does not have peak 1004. Scan data 1002 has compensated signature 1006, which includes peak 1004. Scan data 1002 is flatter than scan data 1000.

[0069] 11, a predetermined number of laser pulses are shown between position updates of a computer numerically controlled (CNC) gantry tool, according to an exemplary embodiment. View 1100 depicts position update 1102 and position update 1104, separated by time 1106. Time 1106 is the update time interval for the CNC. As shown, between position update 1102 and position update 1104 is laser pulse 1108. As shown, laser pulse 1108 includes nine pulses, for example, by laser scanner 102 of FIG. 1 or laser scanner 204 of FIG. 2.

[0070] Referring now to Figure 12, a flowchart of a method for scanning a part using a laser scanner is shown, according to an example embodiment. Method 1200 can be used to scan part 111 of Figure 1. Method 1200 can be performed using laser scanner 204 and computer numerically controlled (CNC) gantry tool 202 of Figures 2-4. Method 1200 can be implemented using laser scanner 502 of FIG. 5. Method 1200 can be implemented using laser scanner 602 of FIG. 6. Method 1200 can be implemented using laser scanner motion support assembly 700 of FIG. 7. Method 1200 can be used for shimless manufacturing. Method 1200 can be used to manufacture second part 804 of FIG. 8. Method 1200 can be used for predictive shimming. Method 1200 can be used to manufacture shim 904 of FIG. 9.

[0071] Method 1200 includes connecting a connection assembly to a platform of a computer numerically controlled (CNC) system, the connection assembly being secured to a laser scanner (step 1202). By connecting the connection assembly to the platform, the laser scanner is connected to the computer numerically controlled (CNC) system. In some example embodiments, the computer numerically controlled (CNC) system takes the form of a computer numerically controlled (CNC) gantry tool.

[0072] In method 1200, a platform of a computer numerically controlled (CNC) system is moved relative to the part (step 1204). Moving the platform of the computer numerically controlled (CNC) system also moves a laser scanner connected thereto. In method 1200, as the platform of the computer numerically controlled (CNC) system moves relative to the part, the laser scanner scans a first side of the part to generate scan data (step 1206). The method then ends.

[0073] In some example embodiments, the method 1200 calibrates the laser scanner after an initial connection of the connection assembly to a computer numerical control (CNC) system platform to create a reusable calibration (step 1208). In some example embodiments, the method 1200 uses the reusable calibration to perform subsequent connections of the connection assembly and scan a first side of the part with the laser scanner (step 1210). The reusable calibration reduces setup time for the laser scanner.

[0074] In some demonstrative embodiments, method 1200 includes connecting the laser scanner motion support assembly to a computer numerical control (CNC) system, where the laser scanner motion support assembly is operatively connected to the laser scanner (step 1212). By including the laser scanner motion support assembly in the computer numerical control (CNC) system, the distance between the laser scanner and the laser scanner motion support assembly can be relatively short. For example, by including the laser scanner motion support assembly in the computer numerical control (CNC) system, the distance between the laser scanner and the laser scanner motion support assembly can be several feet. For example, by including the laser scanner motion support assembly in the computer numerical control (CNC) system, the length of the communication cable for the laser scanner motion support assembly can be reduced. By including the laser scanner motion support assembly in the computer numerical control (CNC) system, laser noise can be reduced. In some demonstrative embodiments, method 1200 includes using the laser scanner motion support assembly to control the operation of the laser scanner (step 1214).

[0075] In some example embodiments, method 1200 pulses the laser scanner between position updates of the computer numerical control (CNC) system (step 1216). Timing compensation interpolation accounts for the delay between the receipt of data from the computer numerical control (CNC) system by a real-time central processing unit (CPU) of the laser scanner motion support assembly and the actual position of the real-time central processing unit (CPU). Timing-compensated interpolation allows sampling from the laser scanner more frequently than the position updates of a computer numerically controlled (CNC) system.

[0076] Timing compensation interpolation involves pulsing the laser scanner between position updates of the computer numerical control (CNC) system. Timing compensation interpolation increases the speed at which the part is scanned.

[0077] In some example embodiments, the method 1200 uses the scan data to determine differences between the first surface and the first surface design (step 1218).

[0078] In some demonstrative embodiments, the method 1200 uses the difference to modify a design of a second surface of a second part to create a modified design configured to match the first surface of the part (step 1220). In some demonstrative embodiments, the method 1200 uses the modified design to manufacture a second part having a second surface (step 1222).

[0079] In some demonstrative embodiments, method 1200 manufactures a plurality of shims based on the difference (step 1224). In some demonstrative embodiments, the plurality of shims are manufactured based on and account for data regarding a second difference between the second side of the second part and the design of the second side of the second article. Data regarding the second difference can be collected in any desired manner. By accounting for both the difference and the second difference, the plurality of shims account for manufacturing variations on both the first side and the second side.

[0080] Referring now to FIG. 13 , a flowchart of a method for scanning a part using a laser scanner is shown, according to an exemplary embodiment. Method 1300 can be used to scan part 111 of FIG. 1 . Method 1300 can be implemented using laser scanner 204 and computer numerically controlled (CNC) gantry tool 202 of FIGS. 2-4 . Method 1300 can be implemented using laser scanner 502 of FIG. 5 . Method 1300 can be implemented using laser scanner 602 of FIG. 6 . Method 1300 can be implemented using laser scanner motion support assembly 700 of FIG. 7 . Method 1300 can be used for shimless manufacturing. Method 1300 can be used to manufacture second part 804 of FIG. 8 . Method 1200 can be used for predictive shimming. Method 1300 can be used to manufacture shim 904 of FIG. 9 .

[0081] The method 1300 includes connecting a laser scanner to a computer numerically controlled (CNC) gantry tool (step 1302). The method 1300 includes connecting a laser scanner motion support assembly to the computer numerically controlled (CNC) gantry tool (step 1304). The method 1300 includes moving a platform of the computer numerically controlled (CNC) gantry tool relative to the part (step 1306). The method 1300 includes controlling the motion of the laser scanner using the laser scanner motion support assembly (step 1308). The method 1300 includes scanning a first side of the part with the laser scanner as the platform of the computer numerically controlled (CNC) gantry tool moves relative to the part to generate scan data (step 1310). The method then ends.

[0082] In some demonstrative embodiments, method 1300 uses the scan data to determine differences between the first surface and a design of the first surface (step 1312). The part is an aircraft component. In some demonstrative embodiments, method 1300 uses the differences to modify the design of a second surface of a second part to create a modified design configured to match the first surface of the part (step 1314). In some demonstrative embodiments, method 1300 uses the modified design to manufacture a second part having a second surface (step 1316).

[0083] In some demonstrative embodiments, method 1300 manufactures a plurality of shims based on the difference (step 1318). In some demonstrative embodiments, the plurality of shims is manufactured based on and accounts for data regarding a second difference between the second side of the second part and the design of the second side of the second article. Data regarding the second difference can be collected in any desired manner. By accounting for both the difference and the second difference, the plurality of shims accounts for manufacturing variations on both the first side and the second side.

[0084] Referring now to FIG. 14 , a flowchart of a method for scanning a part using a laser scanner is shown, according to an exemplary embodiment. Method 1400 can be used to scan part 111 of FIG. 1 . Method 1400 can be implemented using laser scanner 204 and computer numerically controlled (CNC) gantry tool 202 of FIGS. 2-4 . Method 1400 can be implemented using laser scanner 502 of FIG. 5 . Method 1400 can be implemented using laser scanner 602 of FIG. 6 . Method 1400 can be implemented using laser scanner motion support assembly 700 of FIG. 7 . Method 1400 can be used for shimless manufacturing. Method 1400 can be used to manufacture second part 804 of FIG. 8 . Method 1400 can be used for predictive shimming. Method 1400 can be used to manufacture shim 904 of FIG. 9 .

[0085] In method 1400, a laser scanner scans a first side of a part as a platform of a computer numerically controlled (CNC) gantry tool moves relative to the part to generate scan data (step 1402). The laser scanner is connected to the platform of the computer numerically controlled (CNC) gantry tool. In method 1400, the scan data is used to determine differences between the first side and a first side design (step 1404). The method then ends.

[0086] In some demonstrative embodiments, the method 1400 uses the determined differences to manufacture a second part configured to mate with the first surface (step 1406). In some demonstrative embodiments, the method 1400 uses the differences to modify a design of a second surface of the second part to create a modified design configured to mate with the first surface of the part (step 1408). In some demonstrative embodiments, the method 1300 further uses the modified design to manufacture a second part having a second surface (step 1410).

[0087] In some demonstrative embodiments, method 1400 includes manufacturing a plurality of shims (operation 1412) based on the determined difference and a second difference between a second surface of a second part and the design of the second surface, where the plurality of shims are configured to be disposed between the first surface of the part and the second surface of the second part.

[0088] The flowcharts and block diagrams of the various illustrated embodiments illustrate the structure, functionality, and operation of some possible implementations of the apparatus and methods in the illustrative embodiments. In this regard, each block in the flowcharts or block diagrams may represent a module, segment, function, and / or part of an operation or step.

[0089] In some alternative implementations of the exemplary embodiments, one or more functions shown in the blocks may be performed in an order different from that shown in the figures. For example, in some cases, two blocks shown in succession may be performed substantially concurrently or in the reverse order, depending on the functionality involved. Also, other blocks may be added to the blocks shown in the flowcharts or block diagrams.

[0090] In some exemplary embodiments, not all blocks of method 1200, method 1300, or method 1400 may be performed. For example, steps 1208-1224 of Figure 12 are optional. As another example, steps 1312-1318 of Figure 13 are optional. As yet another example, steps 1406-1412 of Figure 14 are optional.

[0091] An exemplary embodiment of the present disclosure may be described with reference to aircraft manufacturing and service method 1500 shown in Figure 15 and with reference to aircraft 1600 shown in Figure 16. Referring initially to Figure 15, an aircraft manufacturing and service method is illustrated in accordance with an exemplary embodiment. As a pre-production step, aircraft manufacturing and service method 1500 may include specification and design 1502 and material procurement 1504 of aircraft 1600 shown in Figure 16.

[0092] During production, component and subassembly manufacturing 1506 and system integration 1508 of the aircraft 1600 occurs. The aircraft 1600 then undergoes, for example, certification and delivery 1510 and enters service 1512. While in customer service 1512, the aircraft 1600 undergoes a routine maintenance and service 1514 schedule, which may include modifications, reconfigurations, refurbishments, and other maintenance or service.

[0093] Each process of aircraft manufacturing and service method 1500 may be performed or carried out by a system integrator, a third party, and / or an operator. In these examples, the operator may be a customer. Note that the system integrator may include, but is not limited to, the aircraft manufacturer and any number of major system subcontractors. The third party may include, but is not limited to, any number of vendors, subcontractors, and suppliers. The operator may be an airline, a leasing company, a military entity, a service organization, etc.

[0094] Referring now to Figure 16, an aircraft is shown in which illustrative embodiments may be implemented. In this example, aircraft 1600 is manufactured according to aircraft manufacturing and service method 1500 of Figure 15 and may include an airframe 1602 with a number of systems 1604 and an interior 1606. Systems 1604 may include, for example, one or more of propulsion system 1608, electrical system 1610, hydraulic system 1612, and environmental system 1614, as well as any number of other systems. Additionally, while an aerospace application is shown as an example, various illustrative embodiments may be applied to other industries, such as the automotive industry.

[0095] Apparatus and methods embodied herein may be employed during at least one of the stages of aircraft manufacturing and service method 1500. One or more illustrative embodiments may be used during part and subassembly manufacturing 1506, system integration 1508, or maintenance and service 1514 in Figure 15. For example, the laser scanner 102 of Figure 1 mounted on a computer numerically controlled (CNC) gantry tool 110 of Figure 1 may be used to perform shimless manufacturing or predictive shimming during part and subassembly manufacturing 1506. As another example, the laser scanner 102 mounted on a computer numerically controlled (CNC) gantry tool 110 may be used to scan replacement parts during maintenance and service 1514 in Figure 15.

[0096] Apparatus and methods embodied herein may be used to manufacture at least one component of aircraft 1600. For example, scan data 148 of Figure 1 may be used to manufacture shim 156 or second part 162 to form part of fuselage 1602 or interior 1606.

[0097] To reduce manufacturing costs and time, an apparatus and method are provided that enable at least one of shim prediction or shimless part manufacturing of aircraft parts. Methods are provided for efficiently measuring and inspecting such parts. Exemplary embodiments describe an add-on system, including an apparatus and method, that can be integrated into current trim cells or other CNC systems to provide fast, efficient, and accurate scanning.

[0098] An exemplary embodiment provides a portable system that includes at least one of one or more 2D laser scanners, a laser controller, a real-time CPU with a high-speed FPGA, a battery, and a wireless connection to a CNC-controlled trim and drill cell. The hardware of the exemplary embodiment provides a highly synchronized system that enables accurate, high-speed scanning. The exemplary embodiment reduces scan time from approximately 8 hours or more to approximately 15 minutes. The technology architecture of the exemplary embodiment provides inspection at a much lower cost than traditional laser inspection. The exemplary embodiment avoids costly retrofitting by placing additional cables within the CNC gantry.

[0099] The methods of the present disclosure are also referred to in the following appendices, which should not be confused with the claims.

[0100] A1. A laser scanner (102) is coupled (1402) to the platform (108) of a computer numerically controlled (CNC) gantry tool (110) to scan a first surface (146) of the part (111) as the platform (108) of the CNC gantry tool (110) moves relative to the part (111) to generate scan data (148); The method uses the scan data to determine a difference between the first surface and a design of the first surface.

[0101] A2. The method of claim A1, further comprising using the determined difference (152) to manufacture (1406) a second part (162) configured to mate with the first surface (146).

[0102] A3. The method of claim A1, further comprising: using the difference (152) to modify a design (158) of a second surface (160) of a second part (162) to create (1408) a modified design (164) configured to fit with the first surface (146) of the part (111).

[0103] A4. The method of claim A3, further comprising manufacturing (1410) the second part (162) having the second surface (160) using the modified design (164).

[0104] A5. The method of claim A1, further comprising manufacturing a plurality of shims (156) taking into account the determined difference (152) and a second difference between a second surface (160) of a second part (162) and a design (158) of the second surface (160), the plurality of shims (156) being formed (1412) to be positioned between the first surface (146) of the part (111) and the second surface (160) of the second part (162).

[0105] According to further aspects of the disclosed method, there is provided:

[0106] B1. Connecting a connection assembly (104) to a platform (108) of a computer numerical control (CNC) system, said connection assembly (104) being fixed (1202) to a laser scanner (102); The platform (108) of the computer numerical control (CNC) system, Move (1204) relative to the part (111), The method includes scanning (1206) a first surface (146) of the part (111) with the laser scanner (102) as the platform (108) of the computer numerical control (CNC) system moves relative to the part (111) to generate scan data (148).

[0107] B2. The method described in Appendix B1, further comprising connecting a laser scanner motion support assembly (106) to the computer numerical control (CNC) system, the laser scanner motion support assembly (106) being operatively connected (1212) to the laser scanner (102).

[0108] B3. The method of clause B2, further comprising controlling (1214) the operation of the laser scanner (102) using the laser scanner operation support assembly (106).

[0109] B4. The method of claim B1, further comprising using the scan data (148) to determine (1218) a difference (152) between the first surface (146) and a design (154) of the first surface (146).

[0110] B5. Using the difference (152) to modify a design (158) of a second surface (160) of a second part (162) to create (1220) a modified design (164) configured to fit with the first surface (146) of the part (111); The method of claim B4, further comprising: using the modified design (164) to manufacture (1222) the second part (162) having the second surface (160).

[0111] B6. The method of claim B4, further comprising manufacturing (1224) a plurality of shims (156) based on the difference (152).

[0112] B7. Calibrating (1208) the laser scanner (102) after initial connection of the connection assembly (104) to the platform (108) of a computer numerical control (CNC) system to create a reusable calibration (116); The method of claim 1, further comprising: performing a subsequent connection of the connection assembly (104) by using the reusable calibration (116) to scan (1210) a first surface (146) of the component (111) with the laser scanner (102).

[0113] B8. The method of claim 1, further comprising pulsing (1216) the laser scanner between position updates of the computer numerical control (CNC) system.

[0114] According to further aspects of the disclosed method, there is provided:

[0115] C1. Connecting (1302) a laser scanner (102) to a computer numerically controlled (CNC) gantry tool (110); connecting (1304) a laser scanner motion support assembly (106) to the computer numerically controlled (CNC) gantry tool (110); moving (1306) a platform (108) of the computer numerically controlled (CNC) gantry tool (110) relative to the part (111); controlling (1308) the operation of the laser scanner (102) using the laser scanner operation support assembly (106); and scanning (1310) a first surface (146) of the part (111) with the laser scanner (102) as the platform (108) of the computer numerically controlled (CNC) gantry tool (110) moves relative to the part (111) to generate scan data (148).

[0116] C2. The method of claim C1, further comprising using the scan data (148) to determine a difference (152) between the first surface (146) and a design (154) of the first surface (146), and wherein the part (111) is a component (124) of an aircraft (126) (1312).

[0117] C3. Using the difference (152) to modify a design (158) of a second surface (160) of a second part (162) to create (1314) a modified design (164) configured to fit with the first surface (146) of the part (111); The method of claim C2, further comprising: using the modified design (164) to manufacture (1316) the second part (162) having the second surface (160).

[0118] C4. The method of claim C2, further comprising manufacturing (1318) a plurality of shims (156) based on the difference (152).

[0119] According to further aspects of the system of the present disclosure, there is provided:

[0120] D1. A laser scanner (102); a connection assembly (104) secured to the laser scanner (102), the connection assembly (104) configured to removably connect the laser scanner (102) to a platform (108) of a computer numerical control (CNC) system; a laser scanner motion support assembly (106) operatively connected to the laser scanner (102) and configured to be connected to the computer numerical control (CNC) system.

[0121] D2. The system of Appendix D1, wherein the connection assembly (104) includes a positioning member (112) and an adapter plate (114), and the positioning member (112) is configured to repeatedly align the laser scanner (102) with respect to the platform (108) of the computer numerical control (CNC) system.

[0122] D3. The system of claim D2, wherein the positioning member (112) has sufficient precision to allow a single calibration of the laser scanner (102) mounted to the computer numerical control (CNC) system to be applicable to each subsequent mounting of the laser scanner to the computer numerical control (CNC) system.

[0123] D4. The system of claim D1, further comprising a second laser scanner (120) secured to the connection assembly (104).

[0124] D5. The laser scanner motion support assembly (106) a real-time central processing unit (CPU) (128); a laser controller (130); and at least one of an RF wireless coupler (132) or an optical coupler (134).

[0125] D6. The system of clause D5, wherein the laser scanner motion support assembly (106) further includes a battery (140).

[0126] D7. The system of claim D6, wherein the battery (140) is electrically connected to the laser controller (130) and the real-time central processing unit (CPU) (128).

[0127] D8. The system of claim D7, wherein the battery (140), the real-time central processing unit (CPU) (128), and the laser controller (130) are contained in a container (142) removably connected to the computer numerically controlled (CNC) gantry tool (110).

[0128] D9. The system of Clause D5, wherein the CPU (128) includes a high-speed field programmable gate array (FPGA) (136).

[0129] D10. The computer numerical control (CNC) system a computer numerically controlled (CNC) gantry tool (110); The system of claim D1, further comprising a computer numerically controlled (CNC) controller (138) in communication with the computer numerically controlled (CNC) gantry tool (110) and a real-time central processing unit (CPU) (128) of the laser scanner motion support assembly (106).

[0130] D11. The system of claim D10, wherein the connection assembly (104) is connected to the platform (108) of the computer numerically controlled (CNC) gantry tool (110), and the platform (108) of the computer numerically controlled (CNC) gantry tool (110) is movable relative to a component (124) of an aircraft (126).

[0131] The description of various exemplary embodiments has been presented for purposes of illustration and description and is not intended to be exhaustive or to limit the invention to the practice in the form disclosed. Many modifications and variations will be apparent to those skilled in the art. Also, exemplary embodiments may include features that differ from other exemplary embodiments. The embodiment or embodiments described above have been chosen and described to best explain the principles and practical applications of the embodiments and to enable those skilled in the art to understand the disclosure for various embodiments with various modifications suited to the particular applications envisioned.

Claims

1. connecting a connection assembly to a platform of a computer numerical control (CNC) system, the connection assembly being secured to a laser scanner; moving the platform of the computer numerically controlled (CNC) system relative to the part; The method further comprises scanning a first surface of the part with the laser scanner as the platform of the computer numerically controlled (CNC) system moves relative to the part to generate scan data.

2. The method of claim 1 , further comprising connecting a laser scanner motion support assembly to the computer numerical control (CNC) system, the laser scanner motion support assembly being operatively connected to the laser scanner.

3. The method of claim 2 , further comprising controlling the operation of the laser scanner with the laser scanner motion support assembly.

4. The method of claim 1 , further comprising using the scan data to determine differences between the first surface and a design of the first surface.

5. modifying a design of a second surface of a second part using the difference to create a modified design configured to match the first surface of the part; The method of claim 4 , further comprising: using the modified design to manufacture the second part having the second surface.

6. The method of claim 4 further comprising manufacturing a plurality of shims based on the difference.

7. calibrating the laser scanner after an initial connection of the connection assembly to the platform of a computer numerical control (CNC) system to create a reusable calibration; 2. The method of claim 1, further comprising: performing a subsequent connection of the connection assembly by using the reusable calibration to scan a first side of the component with the laser scanner.

8. The method of claim 1 , further comprising pulsing the laser scanner between position updates of the computer numerically controlled (CNC) system.

9. A laser scanner; a connection assembly secured to the laser scanner, the connection assembly being configured to removably connect the laser scanner to a platform of a computer numerical control (CNC) system; a laser scanner motion support assembly operatively connected to the laser scanner and configured to be connected to the computer numerical control (CNC) system.

10. 10. The system of claim 9, wherein the connection assembly includes a positioning member and an adapter plate, the positioning member configured to repeatably align the laser scanner relative to a platform of the computer numerically controlled (CNC) system.

11. 11. The system of claim 10, wherein the positioning member has sufficient precision to allow a single calibration of the laser scanner attached to the computer numerical control (CNC) system to be applicable to each subsequent attachment of the laser scanner to the computer numerical control (CNC) system.

12. The system of claim 9 further comprising a second laser scanner secured to the connection assembly.

13. the laser scanner motion support assembly a real-time central processing unit (CPU); A laser controller; and at least one of an RF wireless coupler or an optical coupler.

14. The system of claim 13 , wherein the laser scanner motion support assembly further includes a battery.

15. The computer numerical control (CNC) system a computer numerically controlled (CNC) gantry tool; 10. The system of claim 9, further comprising a computer numerically controlled (CNC) controller in communication with a real-time central processing unit (CPU) of the CNC gantry tool and the laser scanner motion support assembly.

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