CN104246535A - Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker - Google Patents
Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker Download PDFInfo
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- CN104246535A CN104246535A CN201380020286.3A CN201380020286A CN104246535A CN 104246535 A CN104246535 A CN 104246535A CN 201380020286 A CN201380020286 A CN 201380020286A CN 104246535 A CN104246535 A CN 104246535A
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- retroreflector target
- retroreflector
- light beam
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- measurement unit
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
Abstract
A method for locking onto and tracking a selected retroreflector target with a laser tracker (10) includes steps of: actuating by the operator a handheld appliance (410) and sending a wireless signal (420); responding to the wireless message by repetitively carrying out steps in the following loop and exiting the loop when an exit condition is met: reflecting part of a cone of light by at least one retroreflector target (26) and capturing an array image on a photosensitive array; determining which retroreflector target (26) meets the retroreflector target criterion, the retroreflector target that meets the retroreflector target criterion being referred to as the selected retroreflector target; determining whether a position detector of the laser tracker (10) is receiving a reflected portion of a light beam transmitted by the laser tracker (10); establishing that the exit condition is met when the position detector receives the reflected beam and the reflected beam comes from the selected retroreflector target; steering the light beam toward the selected retroreflector target.
Description
Background technology
The present invention relates to coordinate measurment instrument.One group of coordinate measurment instrument belongs to the quasi-instrument measuring three-dimensional (3D) coordinate of this point by laser beam being sent to a point, and wherein this laser beam is tackled by retroreflector target.This instrument finds the coordinate of this point by Distance geometry two angles measuring distance target.Utilize the distance measuring equipment of such as absolute distance meter (ADM) or interferometer to measure this distance.Utilize the angle transverter of such as angular encoder to take measurement of an angle.Laser beam is directed to the point of concern by the universal Beam Control mechanism in this instrument.The example of this equipment is laser tracker.
The coordinate measurment instrument be closely related with laser tracker is total powerstation.Measure through being commonly used in the coordinate that the total powerstation in applying can be used to measure diffuse scattering or retroreflection target.Hereinafter, use term laser tracker to comprise total powerstation in a broad sense.
Laser beam is sent to retroreflector target by usual laser tracker.A kind of retroreflector target of general type is the retroeflector (SMR) of spherical installation, and this SMR comprises the cube-corner retroreflector be embedded in Metal Ball.This cube-corner retroreflector comprises three mutually perpendicular mirrors.As the summit of the solid angle of the common point of the intersection of three mirrors, be positioned at the center of spheroid.Common way is that the sphere placing SMR contacts with test object and then moved on measured surface by SMR.Because this layout of the solid angle in ball, so the vertical range on surface from the summit of solid angle to test object keeps constant and the rotation of no matter SMR.Therefore, the 3D coordinate on this surface can be found by the 3D coordinate of tracker being followed the SMR moved on surface.
Gimbal mechanism in laser tracker may be used for laser beam to be directed to SMR from tracker.Entered laser tracker by the part light of SMR retroeflection and be passed on position detector.The position of the light shone on position detector is used to concentrate on SMR to the anglec of rotation of the mechanical azimuthal axle and mechanical zenith axis that adjust laser tracker to keep laser beam by tracker control system.By this way, tracker can follow (tracking) SMR.
The angle transverter being attached to the mechanical azimuthal axle of tracker and the such as angular encoder of mechanical zenith axis may be used for orientation angles and the apex angle of determining laser beam (the tracker framework relative to reference).The range observation obtained by laser tracker and two measurement of angle are enough to specify completely the three-dimensional position of SMR or other retroreflector target.
As previously mentioned, two kinds of stadimeters can be found in laser tracker: interferometer and absolute distance meter (ADM).In laser tracker, interferometer (if existence) can by counting to the quantity of the increment of the known length passed through when retroreflector target moves between two points (normally the half-wavelength of laser) distance determined from starting point to end point.If beam broken during measuring, then accurately cannot know the number of count value, range information is lost.By contrast, the ADM in laser tracker determines the absolute distance of distance retroreflector target and does not consider beam broken, and this also allows to switch between target.Thus, can say that ADM can " aim at and namely clap " to measure.At first, absolute distance meter only can measure static target and absolute distance meter often uses together with interferometer for this reason.But the absolute distance meter in some modern times can carry out Quick Measurement, thus eliminates the demand to interferometer.
In the tracking mode, when in the acquisition range of SMR at tracker, laser tracker will follow the motion of SMR automatically.If laser beam interruptions, then follow the tracks of and will stop.Light beam can be interrupted by any one in following some methods: (1) obstacle between instrument and SMR; (2) rapid movement of the SMR that too fast to such an extent as to instrument cannot be followed; Or the direction that (3) SMR rotates accepts angle more than SMR.After beam broken, under certain operations pattern, light beam acquiescence remains fixed in beam broken place or in the end command position place.Follow the tracks of light beam for needing operator visually to search and SMR to be placed in light beam instrument to be locked onto SMR on and to continue tracking.As what discuss after this paper, under other operator schemes, light beam can be back to SMR by the use of camera system by automatic guide.
Some laser trackers comprise one or more camera.Camera optical axis can be coaxial with measuring beam or offset by fixing distance or angle from measuring beam.Camera may be used for providing wide visual field to locate retroeflector.The modulated light source be placed near camera optical axis can illuminate retroeflector, thus make retroeflector more easy to identify.In this case, retroeflector in phase glimmers with illumination, and background object does not glimmer.An application of this camera detects multiple retroeflector in the visual field and measures each retroeflector with order automatically.
Some laser trackers have and carry out with six-freedom degree (DOF) ability measured, can comprise three coordinates of such as x, y and z and three curls of the such as angle of pitch, roll angle and crab angle.Some systems based on laser tracker are available or are proposed for measurement six-freedom degree.
As discussed above herein, when beam broken, the tracking of retroreflector target is stopped.In some cases, operator sets up such beam broken wittingly---and such as, use light beam to be provided for the mark making target holder or instrument aim at.In other cases, beam broken is undesirable or inevitable---such as, when operator make retroreflector target rotate through many or make retroeflector pass through to move to from any after object of another point time.When not wishing beam broken, it is desirable to provide a kind of light beam that controls easily to be back to mode in retroreflector target.
A kind of method be back in retroreflector target for controlling light beam easily known in the art is: with the bright retroeflector of taper illumination, observe close to the positioning camera at the light source place of generation taper light the retroreflector target be illuminated very much with being placed on, be included in the position light-sensitive array in positioning camera being estimated retroeflector image, and the motor starting laser tracker is to drive from the light beam of tracker towards retroreflector target.If needed, this action can be repeated and lock onto in retroreflector target with the light beam of autotracking in future instrument.The locking to the light beam in retroreflector target can be identified by the position detector receiving relatively a large amount of reflected light.
At this for controlling light beam in an embodiment of the method in retroreflector target, no matter when light beam lost by tracker, and positioning camera system is all automatically found light beam and is locked in nigh retroreflector target by light beam.But this method goes up limited in some respects.In some cases, most of retroreflector target can be positioned at measures volume, and operator may wish tracker light beam to guide to the target different from the target automatically selected by the tracker of following beam broken.In other cases, operator may wish that tracker light beam keeps fixing on direction, with make target holder or instrument can with tracker beam alignment.
Known in the art a kind of mode around this difficulty makes to use gesture to control the behavior of laser tracker.In the embodiment making to use gesture, use one or more positioning camera and the immediate light source be associated to follow retroreflector target.In this embodiment, camera can by estimating the motion of the retroreflector target of illumination or estimating that the pattern from the power of the light of retroreflector target detects certain gestures.The latent defect used gesture is, and operator must remember the corresponding relation between tracker order and gesture.
Need a kind of flexibly and easily method for obtaining retroreflector target.In some cases, it is desirable to recapture the retroreflector target of following beam broken.In other cases, it is desirable to interruption or unbroken tracker light beam to guide to different retroreflector target.
Summary of the invention
A method for retroreflector target selected by locking for utilizing laser tracker and following the tracks of, locking and tracking are implemented under the guidance of operator, and the method comprises the steps: to arrange at least one retroreflector target, laser tracker is set, this laser tracker has: structure, the first light source, stadimeter, the first angle transverter, the second angle transverter, position detector, camera, secondary light source and processor, and this structure can rotate around the first axle and the second axle, this first light source is configured to produce the first light beam cooperated with stadimeter, this first angle transverter is configured to measure the first angle around the rotation of the first axle, this second angle transverter is configured to measure the second angle around the rotation of the second axle, this position detector is configured to receive folded light beam, this folded light beam is the first light beam reflected by retroreflector target, this camera comprises lens combination and light-sensitive array, this secondary light source is configured to provide taper light, this first light beam and taper light are fixing relative to this structure, this secondary light source is configured to cooperate with camera, this camera has the visual field, this processor is configured to operate laser tracker.The method also comprises the steps: to arrange the transceiver being coupled to laser tracker or being coupled to the computing machine communicated with laser tracker, and this transceiver comprises receiver and optional transmitter; Arrange and be configured to the handheld device of carrying out radio communication with transceiver; At least one retroreflector target is positioned in the visual field of camera; By operator's actuation handheld device and in response to actuating wireless information is sent to transceiver; Determine retroreflector target criterion; Comprise the steps step in the circulation of (a) to (e) and exit circulation when meeting exit criteria to respond wireless information by repeating: (a) by least one retroreflector target reflect taper light a part and on light-sensitive array capture array image; B () determines which retroreflector target meets retroreflector target criterion, this is determined to small part based on array image, and the retroreflector target meeting this retroreflector target criterion is called as selected retroreflector target; C () is by position detector measured signal level and determine whether this position detector receives folded light beam based on this signal level; D () set up whether meet exit criteria, and and if only if, and this position detector receives folded light beam and folded light beam meets exit criteria from during selected retroreflector target; E () starts the first motor and the second motor handles the first light beam towards selected retroreflector target; Start the first motor and the second motor to control folded light beam to make to keep folded light beam on position detector; And by the distance of stadia surveying apart from the first retroreflector target, measure the 3rd angle apart from the first retroreflector target with the first angle transverter, and measure the 4th angle apart from the first retroreflector target with the second angle transverter.
Accompanying drawing explanation
With reference now to accompanying drawing, wherein, in an identical manner identical element is numbered in some accompanying drawings:
Fig. 1 is the stereographic map of the laser tracker of prior art;
Fig. 2 is the stereographic map of the laser tracker system of prior art;
Fig. 3 is the block diagram of the electronic installation of the laser tracker system of prior art;
Fig. 4 is the stereographic map of the laser tracker used together with wireless device according to the embodiment of the present invention;
Fig. 5 is the stereographic map utilizing the laser tracker of positioning camera acquisition reflected light according to the embodiment of the present invention;
Fig. 6 is stereographic map light beam being sent to the laser tracker of retroeflector according to the embodiment of the present invention;
Fig. 7 be illustrate according to the embodiment of the present invention for selecting, locking and follow the tracks of the process flow diagram of the step in the method for retroreflector target;
Fig. 8 is the stereographic map of the laser tracker on wherein light beam according to the embodiment of the present invention is not locked in the field of multiple retroeflector any retroeflector;
Fig. 9 is setting exemplary user interface on a handheld device according to the embodiment of the present invention;
Figure 10 is the stereographic map of the laser tracker used together with the wireless device comprising Inertial Measurement Unit according to the embodiment of the present invention;
Figure 11 is the stereographic map of the laser tracker used together with the wireless device comprising Inertial Measurement Unit according to another implementation of the invention; And
Figure 12 is the stereographic map of the laser tracker used together with the wireless device comprising Inertial Measurement Unit according to another embodiment of the present invention.
Embodiment
Fig. 1 shows the laser tracker 10 of prior art.The exemplary universal Beam Control mechanism 12 of laser tracker 10 comprise be installed in azimuth base 16 and around azimuth axis 20 rotate zenith carriage 14.Load 15 to be installed on zenith carriage 14 and to rotate around zenith axis 18.Summit machinery turning axle 18 and direction machinery turning axle 20 intersect vertically at universal point 22 place the inside of tracker 10, and universal point 22 is normally for the initial point of range observation.Laser beam 46 is actually by universal point 22 and sensing is vertical with zenith axis 18.In other words, laser beam 46 is in the plane orthogonal with zenith axis 18.Laser beam 46 is the direction of directed expectation by the motor in the tracker (not shown) making load 15 rotate around zenith axis 18 and azimuth axis 20.The apex angle scrambler of tracker (not shown) inside and orientation angle scrambler are attached to zenith mechanical axes lie 18 and azimuth mechanical axis 20 and the angle rotated with high precision instruction.Laser beam 46 marches to the external retroreflector 26 of the retroeflector (SMR) of all spherical installations described above.By measuring radial distance between universal point 22 and retroeflector 26 and the anglec of rotation around zenith axis 18 and azimuth axis 20, in the spherical coordinate system of tracker, find the position of retroeflector 26.
Laser beam 46 can comprise one or more optical maser wavelength.For clarity and conciseness, the controlling mechanism of kind illustrated in fig. 1 is supposed in the following discussion.But the controlling mechanism of other types is also possible.Such as, can from the specularly reflected laser beam rotated around azimuth axis and zenith axis.Regardless of the type of controlling mechanism, technology described herein is all applicatory.
In Exemplary laser tracker 10, camera 52 and light source 54 are positioned in load 15.Light source 54 illuminates one or more retroreflector target 26.Light source 54 can be that electric drive is with the LED of repeat its transmission pulsed light.Each camera 52 comprises light-sensitive array and is placed on the lens before light-sensitive array.Light-sensitive array can be CMOS array or ccd array.Lens can have the relatively wide visual field, for example 30 degree or 40 degree.The light-sensitive array that the object of lens is the object in the visual field of lens forms image.Each light source 54 is placed near camera 52 to make the light from light source 54 reflex to camera 52 from each retroreflector target 26.By this way, because the picture point of retroeflector is brighter and be pulse than background object, so can easily retroeflector image be separated with background area on light-sensitive array.Two cameras 52 and two light sources 54 that the line around laser beam 46 is placed can be there are.By using two cameras by this way, Vector triangle may be used for the three-dimensional coordinate of any SMR found in the visual field of camera.In addition, along with SMR point-to-point mobile, the three-dimensional coordinate of SMR can be monitored.
Other layouts of one or more camera and light source are also possible.Such as, light source and camera can be coaxial with the laser beam of being launched by tracker or close to coaxial.In this case, may need to use optical filtering or similar method with the light-sensitive array avoiding the laser beam from tracker to be full of camera.Other possible layouts use the single camera be positioned on the load of tracker or base.
As shown in Figure 2, a part for the auxiliary unit 70 normally laser tracker 10 of prior art.The object of auxiliary unit 70 provides electric power to laser tracker body and also provides computing power and clock capability to system in some cases.Auxiliary unit 70 can be fully removed by the function of auxiliary unit 70 being moved in tracker body.In most of the cases, auxiliary unit 70 is attached to multi-purpose computer 80.The application software be loaded on multi-purpose computer 80 can provide the application power of such as reverse-engineering.Multi-purpose computer 80 can also be removed by the computing power of multi-purpose computer 80 being built directly in laser tracker 10.In this case, the user interface of keyboard and mouse function may be provided to be structured in laser tracker 10.Connection between auxiliary unit 70 and computing machine 80 can be wireless or by the cable of electric wire.Computing machine 80 can be connected to network, and auxiliary unit 70 also can be connected to network.Multiple instrument such as multiple surveying instrument or actuator can be linked together by computing machine 80 or auxiliary unit 70.
Laser tracker 10 in one sideway swivel, rotate from the top down, or can be placed with arbitrary orientation.In these cases, term azimuth axis and zenith axis have the orientation of the direction relative to laser tracker identical with the direction shown in Fig. 1 and no matter laser tracker 10.
In another embodiment, load 15 is replaced by the mirror rotated around azimuth axis 20 and zenith axis 18.Laser beam is guided upwards and is shone on mirror, and laser beam is launched from mirror towards retroeflector 26.
Fig. 3 is the block diagram of the dimension measurement electronics process system 1500 describing prior art, the dimension of prior art is measured electronics process system 1500 and is comprised: laser tracker electronics process system 1510, peripheral cell 1582,1584,1586, computing machine 1590 and herein with other network componentses 1600 that cloud represents.Exemplary laser tracker electronics process system 1510 comprises: primary processor 1520, loading functional electronic installation 1530, azimuth encoder electronic installation 1540, vertex encoding device electronic installation 1550, display and user interface (UI) electronic installation 1560, removable storage hardware 1565, radio frequency identification (RFID) electronic installation 1570 and antenna 1572.Loading functional electronic installation 1530 can comprise many subfunctions, and this subfunction comprises six DOF electronic installations 1531, phase organic electronic device 1532, ADM electronic installation 1533, position detector (PSD) electronic installation 1534 and electronic level device 1535.Major part subfunction has at least one processor unit, and processor unit can be such as digital signal processor (DSP) or field programmable gate array (FPGA).Electronic device unit 1530,1540 and 1550 is be separated because of their positions in laser tracker as shown.In embodiments, loading functional 1530 is arranged in load, and azimuth encoder electronic installation is arranged in orientation assembly and vertex encoding device electronic installation 1550 is arranged in summit assembly.
It is all possible for being permitted eurypalynous peripherals, but herein show three kinds of such equipment: temperature sensor 1582, six DOF probe 1584 and can be such as the personal digital assistant 1586 of smart phone or telechiric device.By means of the vision system of such as camera, and read to cooperation target such as the Distance geometry angle of six DOF probes 1584 by means of laser tracker, laser tracker can communicate with peripherals in every way, comprises the radio communication of carrying out via antenna 1572.
In embodiments, the communication bus of separation is from primary processor 1520s to each electronic device unit in electronic device unit 1530,1540,1550,1560,1565 and 1570.Each communication line can have three string lines such as comprising data line, clock line and frame bar.Whether frame bar instruction electronic device unit should be noted that clock line.If frame bar instruction should be noted, then electronic device unit reads the currency of data line at each clock signal place.Clock signal can correspond to the rising edge of such as time clock.In embodiments, information is sent in the form of packets on the data line.In embodiments, each grouping comprises address, numerical value, data-message and School Affairs.Where address instruction data-message in electronic device unit will be directed to.Position such as can correspond to the processor subroutine in electronic device unit.The length of numerical value designation data message.Data-message comprises the data or instruction that electronic device unit will perform.School Affairs is for making the minimized numerical value of wrong probability sent on communication line.
In embodiments, information block is sent to loading functional electronic installation 1530 via bus 1610 by primary processor 1520, azimuth encoder electronic installation 1540 is sent to via bus 1611, vertex encoding device electronic installation 1550 is sent to via bus 1612, display and UI electronic installation 1560 is sent to via bus 1613, be sent to removable storage hardware 1565 via bus 1614, and be sent to RFID and wireless electron device 1570 via bus 1616.
In embodiments, synchronous (synchronously) pulse is also sent to each electronic device unit in electronic device unit by primary processor 1520 simultaneously via synchronous bus 1630.The mode that synchronizing pulse provides a kind of value making to be collected by the measurement function of laser tracker synchronous.Such as, one receives synchronizing pulse, and azimuth encoder electronic installation 1540 and summit electronic installation 1550 just latch their encoder values.Similarly, loading functional electronic installation 1530 latches the data of being collected by the electronic installation be included in load.When providing synchronizing pulse, six DOF, ADM and position detector all latch datas.In most of the cases, camera and inclinometer collect data with the speed lower than synchronizing pulse speed, but can carry out latch data with the multiple of clock cycle.
Laser tracker electronics process system 1510 can communicate with outer computer 1590, or laser tracker electronics process system 1510 can provide calculating, display and UI function in laser tracker.Laser tracker communicates with computing machine 1590 via communication link 1606, and communication link 1606 can be such as ethernet line or wireless connections.Laser tracker can also communicate with other elements 1600 represented by cloud via communication link 1602, and communication link 1602 can comprise one or more cable of such as Ethernet cable and one or more wireless connections.The example of element 1600 is other three-dimensional test instruments---such as can by the joint arm CMM of laser tracker reorientation.Communication link 1604 between computing machine 1590 and element 1600 can be wired (such as Ethernet) or wireless.Be sitting in the other operator of remote computer 1590 can carry out via the connection to the Internet represented by cloud 1600 of Ethernet or radiolink, this transfers to be connected to primary processor 1520 via Ethernet or radiolink.By this way, user can control the operation of remote laser tracker.
Fig. 4 to Fig. 7 shows the method and apparatus in embodiments of the present invention.Laser tracker 10 sends out laser beam 46 as in figure 1, but this beam broken and no longer aiming at retroreflector target 26 in an example.In another example, this light beam is still locked in retroreflector target, but operator wishes light beam to lock onto in different retroreflector target.In either case, operator such as carrys out actuation handheld device 410 (step 705 in Fig. 7) by pressing button or the promotion soft-key button appeared on the UI of handheld device 410.Actuating makes transceiver 415 wireless signal emission 420, and wireless signal 420 can be the RF, microwave or the infrared signal (step 708 in Fig. 7) that are such as received by one or more transceiver 65A, 65B and the 65C respectively in computing machine 80, auxiliary unit 70 and tracker 65.In this document, term transceiver is for representing any equipment comprising both transmitter, receiver or transmitter and receiver.Auxiliary unit 70 can comprise power supply and optional primary processor 1520, and therefore auxiliary unit 70 can be considered to the part of laser tracker 65.
Software is made to obtain firing backward device objective criteria (step 710 in Fig. 7) by the reception of one or more transceiver 65A, 65B and 65C to wireless signal.Firing backward device objective criteria is the criterion describing the clarification of objective that tracker will lock.This criterion can be such as closest to the firing backward device from the light beam 46 of laser tracker.Other example of firing backward device objective criteria is described herein.Such as, criterion can by operator by selecting by the soft-key button be pressed on the UI of hand-held device.Criterion can alternatively be arranged by selecting the default setting such as in the attribute or setting menu of the software used together with laser tracker in advance by operator.
Fig. 4 to Fig. 6 shows the further response to wireless signal 420.By performing the software making the repetitive sequence of event (step 720 in Fig. 7 is to 740) be performed, one or more transceiver 65A, 65B and 65C carry out responding (step 715 in Fig. 7).One or more luminaires 54 close to each positioning camera 52 send taper light (step 720 in Fig. 7), and taper light can such as be modulated by bright for color break-up and sudden strain of a muscle being gone out in time.Taper light can cover relatively wide angle---and such as 60 degree.Light is reflected back one or more camera 52 (step 725 in Fig. 7) by any retroeflector in taper light.The image of each retroeflector illuminated is formed on the light-sensitive array of a part for camera (step 730 in Fig. 7) by the lens be included in each positioning camera.Fig. 5 shows the retroeflector 26 launched back by light 510 near positioning camera 54.
In step 732, software determines which retroeflector meets retroeflector criterion.Such as, if the retroeflector criterion selected by operator is from the nearest retroreflector target of tracker light beam 46, then software can estimate that the position of the image on (one or more) camera (one or more) light-sensitive array is to determine whether to meet retroeflector criterion.Based on the decision estimation of two conditions being made to step 732.First, whether software records position detector is receiving the tracker light beam 46 of retroreflection.If this light beam impinges upon relatively close to the center of retroreflector target, then will receive this light beam by position detector.The determination whether position detector being received to retroeflector light is made based on the signal level provided by position detector.Such as, the position detector of a type is the profile form position-sensitive detector with four electrodes.Increase voltage level by each the electrode place in four electrodes, the total optical power occurred on position detector can be determined.If luminous power exceedes pre-established level, then the retroreflection part of light beam 46 is indicated to exist.In other words, in this case, laser tracker is locked in target.Secondly, whether the image that software records obtains on (one or more) light-sensitive array of (one or more) camera 52 is corresponding to the position of retroeflector meeting retroreflector target criterion.And if position detector is receiving the retroreflection part of tracker light beam 46 if so, then as shown in step 745, flow process continues to follow the tracks of retroreflector target.Otherwise in step 740, startup orientation (AZ) motor and summit (ZE) motor drive tracker light beam towards selected retroreflector target.Then step 720 is repeated to 740 until meet the exit criteria of step 735.
In step 745, carry out the tracking of initialization to the light beam in retroreflector target by startup AZ motor and ZEN motor, roughly concentrate on position detector to keep light beam.Retroeflector can be followed the tracks of to the position paid close attention to by operator, may be used for measuring distance and two angles to determine the three-dimensional coordinate (step 750 in Fig. 7) of object to be tested at this some place tracker.
For the situation of wherein two retroeflectors 26,28 illustrated in fig. 8 in the taper light launched by luminaire 54, show the use of the selection criterion of step 710.In embodiments, by operator's select target criterion, this can such as provide on the IMU soft-key button of smart phone as shown in Figure 9.In the example selection of Fig. 9, operator can select: closest to the retroreflector target in current beam direction, from nearest beam direction retroreflector target farthest (can direction) by outer rim " dragging " SMR around taper light for changing tracker, the fastest retroreflector target (may be used for selecting moving target from the set of static target), closest to the retroreflector target (IMU of Inertial Measurement Unit, as after this paper discuss, can be the IMU in smart phone), retroreflector target (as described in after this paper) on the direction that IMU is directed, from the retroreflector target selected by image.For the selection that can provide have many other may.
In another embodiment, preference pattern is selected in advance as setting value or default value.Such as, operator may wish always to make tracker light beam to be locked in closest to IMU retroreflector target on or operator may always wish from image to select retroeflector.Such as, this setting can be selected by operator on the computer program used together with laser tracker.
The selection that user can make is, whether method discussed in this article is only applicable to the situation of wherein beam broken (not following the tracks of retroeflector), or whether the method also should be applicable to wherein light beam just in tracking target and operator wishes retroeflector to be directed to the situation of another target.
Exemplarily, we consider the situation of Figure 10, but first provide some backgrounds about Inertial Measurement Unit (IMU) 525, and Inertial Measurement Unit (IMU) 525 is parts of handheld device 510.IMU is to provide information about linear movement or rotary motion or position as the equipment of the result of inertial sensor.The example of inertial sensor is accelerometer (being the things identical with inclinometer), gyroscope, magnetometer (compass) and GPS (GPS) equipment.Nowadays it is common for comprising three-dimensional accelerometer, three-dimensional gyroscope, compass and GPS for smart phone.By setting up the initial position of the IMU relevant with laser tracker, the estimation relatively good to the position of IMU can be obtained along with the past of time.Such as, when measuring retroreflector target by tracker, if operator has smart phone in shirt pocket, then easily can obtain the initial position of the IMU in mobile phone.Then smart phone has the approximate three-dimensional coordinate of measured retroreflector target.Along with operator moves everywhere, the IMU in mobile phone can provide the more new estimation to retroeflector position.
In Fig. 10, light beam 46 is locked on retroeflector 26, but operator wishes the different retroeflector 28 following the tracks of this operator's positive carry.Operator is using the handheld device 510 comprising Inertial Measurement Unit 525 and transceiver 515.Operator selects " nearest IMU " or passes through some other modes (such as by " immediate IMU " being selected by default) in the UI of Fig. 9.When operator's actuation handheld device is with during from transceiver 515 wireless signal emission, the wireless signal received by transceiver 65A, 65B or 65C can open software, this software performs the step of Fig. 9, drives light beam 46 to retroreflector target 28 as shown in Figure 11.As discussed above, for the situation described by Figure 10 and Figure 11, light beam is locked in a target at first, but is directed to another target by operator.
The IMU found in smart phone and other handheld devices not only provides the information of the position about smart phone, and provides the information about the wherein direction of smart phone positive sense.This ability may be used for the useful measuring technique provided shown in Figure 12.In the case shown in fig. 12, due to the IMU 625 in equipment, the therefore apparent position of known handheld equipment 610 and direction.By handheld device being pointed to expectation target 28 place, the rearward camera 645 in face may be used for obtaining the image 638 at display screen 635 immediate vicinity.Utilize handheld device directed by this way, the line in space can be dragged to each camera camera 52 from handheld device 610.This line can mathematically be mapped on each light-sensitive array in the light-sensitive array of camera 52 and for determining the software closest to those retroreflector target mapping line.
Another possibility makes camera 52 send image, and this image represents the relative position of the visual angle retroreflector target from laser tracker.Then operator can select the retroreflector target of concern.
Herein handheld device described above can be some dissimilar in any type.Handheld device can be telechiric device, mobile phone (comprising smart phone), electronic plane computer or keyboard.Although in most of the cases radio communication is favourable, the method utilizing wired methods described herein also can be used---in other words, utilize and carry out by wired connection and laser tracker or associated computer the handheld device that communicates.
Although illustrate and describe preferred implementation, various amendment and replacement can be made when not deviating from the spirit and scope of the present invention.Therefore, it should be understood that and describe the present invention by signal and the mode do not limited.
Therefore, think that disclosed embodiment is schematic in all respects and is unconfined at present, therefore the scope of the present invention indicated by claims instead of description above, and all changes in the meaning and scope of the equivalence of claim, be included in scope of the present invention.
Claims (amendment according to treaty the 19th article)
1., for utilizing a method for the retroreflector target selected by laser tracker locking and tracking, described locking and tracking are implemented under the guidance of operator, and described method comprises the steps:
At least one retroreflector target is set;
Described laser tracker is set, described laser tracker has: structure, the first light source, stadimeter, the first angle transverter, the second angle transverter, position detector, camera, secondary light source and processor, and described structure can rotate around the first axle and the second axle, described first light source is configured to produce the first light beam cooperated with described stadimeter, described first angle transverter is configured to measure the first angle around the rotation of described first axle, described second angle transverter is configured to measure the second angle around the rotation of described second axle, described position detector is configured to receive folded light beam, described folded light beam is described first light beam reflected by retroreflector target, described camera comprises lens combination and light-sensitive array, described secondary light source is configured to provide taper light, described first light beam and described taper light are fixing relative to described structure, described secondary light source is configured to cooperate with described camera, described camera has the visual field, described processor is configured to operate described laser tracker,
Arrange the tracker transceiver being coupled to described laser tracker or being coupled to the computing machine communicated with described laser tracker, described tracker transceiver comprises receiver and optional transmitter;
The described handheld device with the device transceiver being attached to handheld device is set, described device transceiver is configured to carry out radio communication with described tracker transceiver, and described device transceiver is configured to launch the wireless signal being selected from the group be made up of RF signal, microwave signal and infrared signal;
At least one retroreflector target described is positioned in the described visual field of described camera;
Activate described handheld device by described operator and in response to described actuating, the first wireless signal be sent to described tracker transceiver from described device transceiver;
In response to by the reception of described tracker receiver to described first wireless signal, determine retroreflector target criterion;
Comprise the steps step in the circulation of (a) to (e) and exit described circulation when meeting exit criteria to respond described first wireless signal by repeating:
(a) by least one retroreflector target described reflect described taper light a part and on described light-sensitive array capture array image;
B () determines which retroreflector target at least one retroreflector target described meets described retroreflector target criterion, the described small part that is determined to is based on described array image, and the retroreflector target meeting described retroreflector target criterion is called as selected retroreflector target;
C () utilizes described position detector measured signal level and determines whether described position detector is receiving described folded light beam based on described signal level;
D () set up whether meet described exit criteria, and and if only if, and described position detector receives described folded light beam and described folded light beam meets described exit criteria from during described selected retroreflector target;
E () starts the first motor and the second motor to control described first light beam towards described selected retroreflector target;
Start described first motor and described second motor to control described folded light beam to make to keep described folded light beam on described position detector; And
Utilize described stadia surveying apart from the distance of selected retroreflector target, utilize described first angle transverter measurement apart from the 3rd angle of selected retroreflector target, and utilize described second angle transverter measurement apart from the 4th angle of selected retroreflector target.
2. method according to claim 1, wherein, in the step arranging handheld device, described handheld device is cell-phone.
3. method according to claim 1, wherein, in the step arranging handheld device, described handheld device is telechiric device.
4. method according to claim 1, wherein, determines that the step of retroreflector target criterion also comprises and utilizes described handheld device to select retroreflector target criterion by described operator.
5. method according to claim 1, wherein, determines that the step of retroreflector target criterion also comprises and arranges and use acquiescence retroreflector target criterion.
6. method according to claim 4, wherein, described criterion is selected from the group be made up of following criterion: described retroreflector target has the image at the center closest to described light-sensitive array; Described retroreflector target has the image at the edge closest to described light-sensitive array; Described retroeflector has from the determined image retroreflector target image with maximal rate of continuous array image; Described retroreflector target image is corresponding closer to the retroreflector target of Inertial Measurement Unit with any other retroreflector target be arranged in than the described visual field at described camera; Described retroreflector target has and is positioned at than any other retroreflector target closer to initial at described Inertial Measurement Unit place and project towards image corresponding to the retroreflector target of the line of described retroreflector target; And described retroreflector target is selected from the retroreflector target represented by the image be sent to from described transceiver the described array image of described handheld device by described operator.
7. method according to claim 1, wherein, the step arranging handheld device also comprises the steps:
Arrange the Inertial Measurement Unit being attached to described handheld device, described Inertial Measurement Unit is configured to measure the moment of inertia, and described Inertial Measurement Unit communicates with described device transceiver;
Described Inertial Measurement Unit is placed near the second retroreflector target;
Described laser tracker is utilized to measure the primary importance of described second retroeflector;
Described Inertial Measurement Unit is utilized to measure initial inertia amount;
Initial inertia amount is wirelessly transmitted to described tracker transceiver from described device transceiver; And
By the initial position setting of described Inertial Measurement Unit to the described primary importance of described second retroeflector.
8. method according to claim 7, wherein, in the step that handheld device is set, described Inertial Measurement Unit comprises three-dimensional accelerometer and three-dimensional gyroscope, and described three-dimensional accelerometer is configured to the acceleration in measurement three dimensions and described three-dimensional gyroscope is configured to the change of measurement around the angular direction of three axles.
9. method according to claim 7, wherein, the step being activated described handheld device by described operator also comprises the steps:
Described Inertial Measurement Unit is placed near the 3rd retroreflector target;
Described Inertial Measurement Unit is utilized to measure the second the moment of inertia;
Second the moment of inertia is sent to described tracker transceiver from described device transceiver unit wireless;
The apparent position of described 3rd retroreflector target is obtained at least partly based on described second the moment of inertia by described tracker transceivers; And
Determine that described 3rd retroreflector target is selected retroreflector target, described in be determined to the apparent position of small part based on described Inertial Measurement Unit.
10. method according to claim 7, wherein, the step being activated described handheld device by described operator also comprises the steps:
By described operator, described handheld device is aimed on the direction of the 3rd retroreflector target;
Described Inertial Measurement Unit is utilized to measure the second the moment of inertia;
Second the moment of inertia is wirelessly transmitted to described tracker transceiver from described device transceiver;
Obtain the proximal line at described 3rd retroreflector target place, described proximal line is at least partly based on described second the moment of inertia by described tracker transceivers; And
Determine that described 3rd retroreflector target is selected retroreflector target, described in be determined to the line of small part based on described 3rd retroreflector target place.
Claims (10)
1., for utilizing a method for the retroreflector target selected by laser tracker locking and tracking, described locking and tracking are implemented under the guidance of operator, and described method comprises the steps:
At least one retroreflector target is set;
Described laser tracker is set, described laser tracker has: structure, the first light source, stadimeter, the first angle transverter, the second angle transverter, position detector, camera, secondary light source and processor, and described structure can rotate around the first axle and the second axle, described first light source is configured to produce the first light beam cooperated with described stadimeter, described first angle transverter is configured to measure the first angle around the rotation of described first axle, described second angle transverter is configured to measure the second angle around the rotation of described second axle, described position detector is configured to receive folded light beam, described folded light beam is described first light beam reflected by retroreflector target, described camera comprises lens combination and light-sensitive array, described secondary light source is configured to provide taper light, described first light beam and described taper light are fixing relative to described structure, described secondary light source is configured to cooperate with described camera, described camera has the visual field, described processor is configured to operate described laser tracker,
Arrange the transceiver being coupled to described laser tracker or being coupled to the computing machine communicated with described laser tracker, described transceiver comprises receiver and optional transmitter;
Arrange and be configured to the handheld device of carrying out radio communication with described transceiver;
At least one retroreflector target described is positioned in the described visual field of described camera;
Activate described handheld device by described operator and in response to described actuating, wireless information be sent to described transceiver;
Determine retroreflector target criterion;
Comprise the steps step in the circulation of (a) to (e) and exit described circulation when meeting exit criteria to respond described wireless information by repeating:
(a) by least one retroreflector target described reflect described taper light a part and on described light-sensitive array capture array image;
B () determines which retroreflector target meets described retroreflector target criterion, the described small part that is determined to is based on described array image, and the retroreflector target meeting described retroreflector target criterion is called as selected retroreflector target;
C () utilizes described position detector measured signal level and determines whether described position detector is receiving described folded light beam based on described signal level;
D () set up whether meet described exit criteria, and and if only if, and described position detector receives described folded light beam and described folded light beam meets described exit criteria from during described selected retroreflector target;
E () starts the first motor and the second motor to control described first light beam towards described selected retroreflector target;
Start described first motor and described second motor to control described folded light beam to make to keep described folded light beam on described position detector; And
Utilize described stadia surveying apart from the distance of the first retroreflector target, utilize described first angle transverter measurement apart from the 3rd angle of described first retroreflector target, and utilize described second angle transverter measurement apart from the 4th angle of described first retroreflector target.
2. method according to claim 1, wherein, in the step arranging handheld device, described handheld device is cell-phone.
3. method according to claim 1, wherein, in the step arranging handheld device, described handheld device is telechiric device.
4. method according to claim 1, wherein, determines that the step of retroreflector target criterion also comprises and utilizes described handheld device to select retroreflector target criterion by described operator.
5. method according to claim 1, wherein, determines that the step of retroreflector target criterion also comprises and arranges and use acquiescence retroreflector target criterion.
6. method according to claim 4, wherein, described criterion is selected from the group be made up of following criterion: described retroreflector target has the image at the center closest to described light-sensitive array; Described retroreflector target has the image at the edge closest to described light-sensitive array; Described retroeflector has from the determined image retroreflector target image with maximal rate of continuous array image; Described retroreflector target image is corresponding closer to the retroreflector target of Inertial Measurement Unit with any other retroreflector target be arranged in than the described visual field at described camera; Described retroreflector target has and is positioned at than any other retroreflector target closer to initial at described Inertial Measurement Unit place and project towards image corresponding to the retroreflector target of the line of described retroreflector target; And described retroreflector target is selected from the retroreflector target represented by the image be sent to from described transceiver the described array image of described handheld device by described operator.
7. method according to claim 1, wherein, the step arranging handheld device also comprises the steps:
Arrange Inertial Measurement Unit, described Inertial Measurement Unit is configured to measure the moment of inertia;
Described Inertial Measurement Unit is placed near the second retroreflector target;
Described laser tracker is utilized to measure the primary importance of described second retroeflector;
Described Inertial Measurement Unit is utilized to measure initial inertia amount;
Initial inertia amount is wirelessly transmitted to described first transceiver from described Inertial Measurement Unit; And
By the initial position setting of described Inertial Measurement Unit to the described primary importance of described second retroeflector.
8. method according to claim 7, wherein, in the step that handheld device is set, described Inertial Measurement Unit comprises three-dimensional accelerometer and three-dimensional gyroscope, and described three-dimensional accelerometer is configured to the acceleration in measurement three dimensions and described three-dimensional gyroscope is configured to the change of measurement around the angular direction of three axles.
9. method according to claim 7, wherein, the step being activated described handheld device by described operator also comprises the steps:
Described Inertial Measurement Unit is placed near the 3rd retroreflector target;
Described Inertial Measurement Unit is utilized to measure the second the moment of inertia;
Second the moment of inertia is wirelessly transmitted to described first transceiver from described Inertial Measurement Unit;
The apparent position of described 3rd retroreflector target is obtained at least partly based on described second the moment of inertia received by described first transceiver; And
Determine that described 3rd retroreflector target is selected retroreflector target, described in be determined to the apparent position of small part based on described Inertial Measurement Unit.
10. method according to claim 7, wherein, the step being activated described handheld device by described operator also comprises the steps:
By described operator, described handheld device is aimed on the direction of described 3rd retroreflector target;
Described Inertial Measurement Unit is utilized to measure the second the moment of inertia;
Second the moment of inertia is wirelessly transmitted to described first transceiver from described Inertial Measurement Unit;
Obtain the proximal line at described 3rd retroreflector target place, described proximal line is at least partly based on described second the moment of inertia received by described first transceiver; And
Determine that described 3rd retroreflector target is selected retroreflector target, described in be determined to the proximal line of small part based on described 3rd retroreflector target place.
Applications Claiming Priority (5)
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| US201261702864P | 2012-09-19 | 2012-09-19 | |
| US61/702,864 | 2012-09-19 | ||
| US13/851,221 | 2013-03-27 | ||
| US13/851,221 US8724119B2 (en) | 2010-04-21 | 2013-03-27 | Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker |
| PCT/US2013/059592 WO2014046968A1 (en) | 2012-09-19 | 2013-09-13 | Method for using a handheld appliance to select, lock onto, and track a retroreflector with a laser tracker |
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| CN (1) | CN104246535A (en) |
| DE (1) | DE112013004569B4 (en) |
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| CN114184181A (en) * | 2021-12-06 | 2022-03-15 | 长春理工大学 | Active target device with infrared tracking and beacon light pointing functions |
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| CN106595654A (en) * | 2016-12-13 | 2017-04-26 | 天津大学 | Continuous tracking measurement method and device for laser tracking measurement system |
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| CN107655406A (en) * | 2017-09-13 | 2018-02-02 | 刘志方 | The monitoring device and its real-time detection method of a kind of bridge vibration deformation |
| CN112424563A (en) * | 2017-12-17 | 2021-02-26 | 精密自动化股份有限公司 | Multi-dimensional measurement system for accurately calculating position and orientation of dynamic object |
| CN114502915A (en) * | 2019-10-08 | 2022-05-13 | 斑马技术公司 | Method, system and apparatus for mobile dimensioning |
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| CN113346246A (en) * | 2020-03-02 | 2021-09-03 | 川升股份有限公司 | Antenna module with alignment function and antenna far-field measuring system |
| CN115540757A (en) * | 2020-12-25 | 2022-12-30 | 深圳市中图仪器股份有限公司 | Distance measuring system for improving measurement precision |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2014046968A1 (en) | 2014-03-27 |
| GB2512250A (en) | 2014-09-24 |
| GB2512250B (en) | 2015-01-28 |
| JP2015534055A (en) | 2015-11-26 |
| DE112013004569T5 (en) | 2015-06-25 |
| DE112013004569B4 (en) | 2016-07-07 |
| GB201412305D0 (en) | 2014-08-27 |
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