CN1290850A - Non-contact six-freedom motion measuring and analysing system - Google Patents

Non-contact six-freedom motion measuring and analysing system Download PDF

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CN1290850A
CN1290850A CN 00125886 CN00125886A CN1290850A CN 1290850 A CN1290850 A CN 1290850A CN 00125886 CN00125886 CN 00125886 CN 00125886 A CN00125886 A CN 00125886A CN 1290850 A CN1290850 A CN 1290850A
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measurement
signal
psd
model
motion
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杨建民
顾海粟
姚美旺
肖龙飞
彭涛
王磊
张承懿
盛振邦
王敏声
顾发辉
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上海交通大学
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Abstract

The measuring and analyzing system includes one signal generating subsystem, one signal acquisition subsystem, one lamp holder comprising three non-collinear infrared LED's and fixed onto measured target, and two measuring rectangular coordination systems near the measured area and comprising two PSD video cameras in ring angle. Via the simultaneous measurement of the motion coordinates of the three points in model by two PSD cameras, the present invention provides measured data for the calculation of spatial six-freedom motion. The corollary softwares for correction of viewing angle errors result in ever accurate analysis. The present invention may be used in the model test and practial measurement of marine engineering, machinery, etc.

Description

非接触式六自由度运动测量与分析系统 Non-contact measurement and analysis of six degrees of freedom motion system

本发明涉及一种对海洋工程结构物运动的测量系统,尤其涉及一种非接触式六自由度运动测量与分析系统,属于海洋工程试验测量技术领域。 The present invention relates to a system for measuring the movement of the marine engineering structure, in particular, relates to a non-contact measurement and analysis of six degrees of freedom motion system, it belongs to the field of marine engineering testing measurements.

近年来,海洋工程领域成为全球科学研究与生产开发的一个热点,海洋石油开发与大洋深海矿藏勘探开采得到迅速发展。 In recent years, marine engineering has become a hot spot for global scientific research development and production of offshore oil development and deep ocean mineral exploration and exploitation of rapid development. 海洋勘探与采油平台、油轮等海洋工程结构物在各种海洋环境条件(风、浪、流)下运动情况的预报倍受船舶与海洋工程界同行的关注。 Exploration of the Sea and oil platforms, oil tankers and other marine engineering structures under various marine environmental conditions (wind, wave and current) forecast the movement of the ship and ocean engineering colleagues much concern. 目前,水池模型试验仍是预报海洋工程结构物运动情况较常用的手段。 Currently, the pool model test is still forecast the movement of ocean engineering structures more commonly used methods. 而海洋结构物在各种海洋环境下的运动则是试验中的重要组成部分,对海洋结构物的设计、施工、营运、安全等诸多方面都有着直接的影响。 The movement of marine structures in a variety of marine environment is an important part of the trials, marine structures design, construction, operation, security and many other aspects have a direct impact.

在水池中测量模型运动较早采用系在模型上的绳索来拉动电位器进行,当模型运动时拉动绳索从而改变电位器的电阻,以测量模型三个自由度的线位移。 Model-based motion measurements using an early model on the ropes to pull potentiometer in the pool, the rope is pulled to change the resistance of the potentiometer to measure the linear displacement model three degrees of freedom when the model motion. 这种方法由于不能较好地考虑到六个自由度的位移之间的影响,所测得的线位移结果有较大的误差。 Since this method is not well consideration of the influence of displacement between the six degrees of freedom of linear displacement measured results have large errors.

论文“海洋工程模型运动测量装置的研制”(金志华等,“海洋工程”第15卷第1期,1997年2月)介绍的一种测量装置,用陀螺仪和罗盘来测量分析模型的运动角度,其测量精度在±30°之内的最大误差小于3%,在±45°之内的最大误差小于9%,这在当时已达到了相当高的水平,但仍不能满足海洋工程高精度试验的要求,在长时间的试验中容易产生漂移。 A measuring instrument paper "Development of marine engineering model motion measurement device" (Jin Zhihua and other "offshore" No. 1, February 1997, Vol. 15) introduced, with a gyroscope and a compass to measure the angle of movement analysis model , the maximum error in the measurement accuracy within ± 30 ° of less than 3%, the maximum error is within ± 45 ° of less than 9%, which has reached a very high level at the time, but still can not meet the precision ocean Engineering test requirements, therefore tend to drift in time of the test.

以后又发展出机械式运动测量仪,它是由一套复杂的机械装置组成,当模型运动时,与模型连接的装置相应产生移动,由此可测得模型运动情况。 And later developed a mechanical movement measuring instrument, which is composed of a complex mechanical apparatus, when the motion model, the model of the device connected to the consequential movement, whereby the movement of the model can be measured. 由于该装置是接触式的,在模型运动时必须由模型对其施加一定的力才能完成测量过程,其测量过程使模型的运动发生一定的变化,使测量结果产生误差。 Since the apparatus is a contact type, the model must be applied thereto upon movement of a certain force by the model to complete the measurement process, the measurement process so that a predetermined motion model change occurs, the measurement result errors. 并且,机械装置具有一定的惯性,对微小运动或变化较大的运动的测量响应不是太好。 Further, the mechanical means having a certain inertia, the minute movement or for large changes in response to movement of the measurement is not very good.

其它,如加速度运动测量仪是应用加速度仪测得模型运动的加速度,通过对加速度进行二次积分,求得模型的空间位置。 Others, such as motion acceleration measuring device is measured by an accelerometer application model acceleration motion, by the second acceleration is determined by integrating the spatial position of the model. 由于随时间积分时将产生累积误差,测试时间越长累积误差越大,对于海洋工程这种测量过程时间较长的试验研究来说,其测量误差有时会达到相当大的范围。 Since the cumulative error over time, the longer the test time integration greater the error accumulation for such offshore long measurement time trial studies, the measurement error may reach a considerable range.

CCD运动测量仪是应用CCD摄像头以电视方式测量发光点的空间位置。 CCD spatial movement measuring instrument is measuring the position of application of CCD camera in a television system the light emitting point. 由于CCD摄像头的成像元件由较离散的像素组成,使得测量精度不够高。 Since the imaging element CCD camera of a relatively discrete pixels, so that the measurement accuracy is not high enough. 而且受扫描频率的限制,其测量的速度较低,无法对高速的运动做出准确的测量。 And limited scanning frequency, the measurement of low speed, can not make accurate measurements on high-speed movement.

本发明的目的在于针对现有技术的上述不足,提供一种新型的非接触式海洋工程模型运动的测量系统,使之比现有接触式测量方式更为实用方便,测量结果更为精确可靠。 Object of the present invention for the above-described deficiencies of the prior art, to provide a novel non-contact measurement system of marine engineering model of motion, making it more practical than the conventional contact measurement easy, more accurate and reliable measurements.

为实现这样的目的,本发明在对海洋工程结构物运动的测量技术进行多年深入细致地研究基础上,在比对多种试验研究手段的情况下,充分借鉴国内外其他领域的先进技术,在运动试验测量领域提出了一种比以往的接触式测量方式和CCD测量方式更为先进可靠的测量方法——PSD非接触式六个自由度测量系统。 To achieve this object, the present invention is carried out to measure the movement of marine technology engineering structures studied intensively for many years on the basis of comparison in the case of a variety of experimental research tools, to fully draw on advanced technology in other fields at home and abroad, in fIELD exercise test measures proposed a more advanced and reliable than the conventional contact measurement and the measurement CCD --PSD non-contact measuring method measuring six degrees of freedom system.

本发明的非接触式六自由度运动测量与分析系统通过红外线发光源(Light-Emitting Diodes-LED)和位置测量仪(Position Sensitive Detector—PSD)来测量数个点的位置。 Non-contact type of the present invention, six degrees of freedom of motion measurement and analysis system to measure the position of several points of an infrared light emitting source (Light-Emitting Diodes-LED) and a position measuring device (Position Sensitive Detector-PSD). 数个LED发光源固定在模型上,并依次发光。 A plurality of LED light source is fixed on the model, and sequentially emit light. 位置测量仪(PSD)通过摄像头测到光点运动的变化,产生系列复合信号,然后通过控制部分将其分解成二维多通道位置数据,即光点在平面上的投影位置。 Position-measuring device (PSD) as measured by the change in the light spot to the camera movement, generating a composite signal series, then the control section decomposed into a multi-channel two-dimensional position data, i.e. the position of the light spot projected on the plane.

为了测量光点在空间的三维坐标位置,本发明采用2个摄像头,将其安置成直角,对准测量目标,在测量区域附近形成一个测量直角坐标系统。 In order to measure the position of the light spot in the three-dimensional coordinate space, the present invention uses two cameras, which is disposed at right angles to the alignment measurement target, forming a rectangular coordinate system in the vicinity of the measuring area measurement. 在测量目标上由3个不在一条直线上的LED发光源组成一个灯架,并和测量目标刚性连接。 On the measurement target 3 is not a straight line on the LED light source composed of a lighthouse, and the measurement target and rigidly connected. 这样就可以通过测量灯架的运动推算出测量目标的运动。 This can be deduced by measuring the movement of the measurement target lighthouse movement.

本发明的测量系统由两个子系统组成,一个是信号产生系统,一个是信号采集分析系统。 Measuring system according to the present invention consists of two subsystems, it is a signal producing system, is a signal acquisition and analysis system.

信号产生系统主要由电源——蓄电池、电源分配器、灯架等组成。 Mainly by the power signal producing system - the battery, the power distributor, etc. lighthouse. 蓄电池产生稳定的电压输出,保证信号的稳定。 Generating a stable output voltage of the battery to ensure stable signal. 电源分配器将蓄电池产生的直流电压分别加上3种不同的信号以保证3个不同的LED目标能被采集系统正确的识别。 DC voltage source generating respectively the battery dispenser plus three different signals to ensure that the system correctly identifying three different LED can target acquisition.

信号采集分析系统主要由装在水平仪上的PSD摄像头、放大盒、信号解调器、采集分析用计算机等组成。 Signal acquisition and analysis system consists mounted on the PSD level of the camera, zoom box, a signal demodulator, collection and analysis computer and so on.

为了将所采集的电信号直接转换成为被测物体的运动参数,本发明配套编制了完整的信号分析处理系统软件,对测量系统在光学等方面产生的误差进行了数学上的修正,使得到的数据达到了很高的精度。 In order to direct collected electric signal converted into the motion parameters of the object, the present invention is the preparation of a complete package signal processing analysis software, measurement errors generated in the optical system like a mathematical correction, so that the resulting data reached a very high precision.

为了更好地理解本发明的技术方案,以下结合附图和实施例作进一步详细描述。 To better understand the technical solutions of the present invention, the following embodiments in conjunction with the accompanying drawings and described in further detail.

图1为本发明整个测量系统的结构组成示意图。 1 structure of the present invention, the composition of the entire measurement system schematic.

图中,3个不在一条直线上的LED红外线发光源ABC组成一个灯架3,固定在测量目标4上,2个安在水平仪6上的位置测量仪的PSD摄像头5成直角布置,对准测量目标4,在测量区域附近形成一个测量直角坐标系统。 FIG, 3 is not an LED of infrared emitting source ABC on a straight line to form a lamp holder 3, is fixed on the measuring target 4, PSD camera 2 safe position-measuring device at the level 6 5 arranged at right angles, the alignment measurement target 4 in the vicinity of the measurement region forming a rectangular coordinate measurement system.

信号产生系统的电源——蓄电池1接到电源分配器2,蓄电池1产生稳定的电压输出,保证信号的稳定。 The supply signal producing system - the battery 1 to the power distributor 2, the battery 1 to generate a stable output voltage, to ensure a stable signal. 电源分配器2将蓄电池1产生的直流电压加上3种不同的信号,分别加在灯架3的3个发光源ABC上,以保证3个不同的LED目标能被采集系统正确的识别。 The power splitter 2 Battery voltage generated plus 1 of 3 different signals are applied to the lamp housing 3 of the light emitting source ABC 3, the system in order to ensure a correct identification of three different targets LED can be collected. 信号采集分析系统中的两个PSD摄像头5分别连接信号端放大盒7,并经采集端放大盒8、信号解调器9连接到采集盒10及采集分析用计算机11。 Two cameras PSD of the signal acquisition and analysis system 5 are connected to the signal amplifying terminal box 7, box-end amplifier and harvested 8, 9 is connected to a signal demodulator 10 and the collection box 11 by a computer acquisition and analysis.

灯架3由3个灯球组成,每个灯球为均匀布置了216个LED单元的直径为4.5cm的有机玻璃圆球,3路信号分别加在3个灯球上。 Lamp holder 3 consists of three balls lamps, each lamp is a uniform arrangement of the ball 216 LED unit plexiglass ball diameter of 4.5cm, 3 signals are applied to the three ball lights. LED发光单元是属于红外光类型的光源。 LED lighting unit is part of the infrared light source type. 在由蓄电池供电的情况下,LED发光稳定,不易受可见光的干扰,在试验条件下,红外PSD摄像头能从可见光中清晰稳定地识别LED红外光源的信号。 In the case of a battery-powered, LED light stabilizer, visible light is less susceptible to interference, under the test conditions, the infrared camera from PSD stably clearly visible LED infrared source identification signal.

PSD摄像头5的内部光-电转换元件为一块整体的光敏元件,是一种对入射到其光敏面上的光点位置敏感的光电器件,当光点照射在感光面的不同位置上时,PSD所输出的电压信号也不同,从输出电信号上就可以确定光点在器件感光面上的位置,这种电压直接对应光点位置的测量方法得到的结果显然比由CCD中由单个受光元件来确定光点位置的方法要精密的多,因此其精度和CCD相比提高了很多。 PSD camera internal photoelectric conversion element 5 as a whole of the photosensitive member, a light incident on its photosensitive surface of the position sensitive photovoltaic device, when the light spot is irradiated at different positions on the photosensitive surface, PSD voltage signal output varies, the electric signal output from the light spot can determine the position of the photosensitive surface of the device, such voltage corresponding to the direct measurement result of the light spot position obtained by a clearly better than in the past by a single CCD light-receiving element the method of determining the position of the spot to be more precise, so its accuracy and improved a lot compared to CCD.

水平仪6是为了保证PSD摄像头5的位置符合采集的要求。 Level 6 is to ensure that the position of the camera 5 PSD meets acquisition. 信号端放大盒7、采集端放大盒8、信号解调器9等都是为了使采集的信号正确无误的传输到采集分析用计算机中11。 Cassette amplified signal terminal 7, 8 collection box-end amplifier, signal demodulator 9 and the like are intended to capture the signal transmitted to the correct collection and analysis computer 11. 采集分析用计算机11则是将信号由模拟信号转变为计算机能识别处理的数字信号,以便下一步的计算之用。 Collection and analysis computer 11 sucked by the digital signal from analog signal into a computer can recognize the signal processing to the next calculation purposes.

由于LED光源所发出的肉眼不可见的红外光,为在试验中监测LED灯球的正常发光,可特配备红外观察镜一只。 Since the LED light emitted by the naked eye invisible infrared light, the LED lamp to monitor the balls in the test normal light, infrared viewer may be provided with an Laid.

图2为本发明的测量原理示意图。 FIG 2 measurement principle of the present invention. FIG.

如图所示,3个不在一条直线上的LED红外线发光源ABC组成一个灯架,固定在测量目标上,2个位置测量仪的PSD摄像头对准测量目标,在测量区域附近形成一个测量直角坐标系统。 As shown, the infrared LED 3 is not a linear light emitting source consisting of ABC on a lamp holder fixed on the measurement target, two position-measuring device PSD camera alignment measurement target, the measurement area is formed in the vicinity of a Cartesian coordinate measurement system.

设空间固定坐标系为O-xyz,固定在模型上的相对坐标系为G-ξηζ,图中α为O'P到Ox轴的夹角。 Space is provided for the fixed coordinate system O-xyz, the model corresponding fixed coordinate system G-ξηζ, O'P FIG α is an angle to the axis Ox. 将3个光点分别标为A,B,C,则所测得的这3个光点的空间坐标为(xA,yA,zA),(xB,yB,zB),(xC,yC,zC)。 The three light spots are labeled A, B, C, space the three light spot is measured coordinates (xA, yA, zA), (xB, yB, zB), (xC, yC, zC ). 根据这3个点的坐标可求得相对坐标系G-ξηζ与固定坐标系o-xyz的方向余弦次cξx,cξy,cξz;cηx,cηy,cηz;cζx,cζy,cζz,并由以下(1),(2),(3)式计算欧拉角θ,φ,ψ: The coordinates of the three points can be obtained relative to the direction of the coordinate system G-ξηζ the fixed coordinate system o-xyz cosine times cξx, cξy, cξz; cηx, cηy, cηz; cζx, cζy, cζz, by the following (1 ), (2), (3) to calculate the Euler angles θ, φ, ψ: 根据给定的模型重心G与这3个光点的相对位置,模型重心G在空间运动的坐标(xG,yG,zG)可用如下空间中任一点R的坐标与重心位置的关系求得: The relative position of the given model and the center of gravity G of the three light spots, the center of gravity G in the model coordinate space of motion (xG, yG, zG) can be used with the relationship between the center of gravity position coordinates of any point in space as the R obtained: 式中,(x,y,z)为R点的空间固定坐标,(ξ,η,ζ)为R点在模型上的相对坐标。 Where, (x, y, z) spatial coordinates of a fixed point R, (ξ, η, ζ) is the relative coordinate point R on the model.

本发明应用位置测量仪(PSD)对红外线发光源(LED)进行非接触方式测量,避免了在测量过程中接触模型而产生一定的作用力而产生误差,提高了测量的准确度。 Application of the position measuring device (PSD) of the present invention, the infrared light emitting source (LED) for measuring non-contact manner, to avoid contact during the measurement and the model of a certain force error is generated, to improve the accuracy of the measurement. PSD具有较高的位置解析度与快速响应能力,测量结果精度较高,测量的速度范围较大。 PSD has a high position resolution and fast response, high accuracy measurement results, the larger the measured speed range. 特制的LED发光源满足了远距离测量的要求。 Special LED light source to meet the requirements of long-distance measurement. 通过两套PSD同时测量模型上三个点的运动坐标,为计算模型在空间的六个自由度运动提供了必要的测量数据。 While measuring the coordinates of three points on the motion model by two PSD, to calculate the model provides the necessary measurement data space in six degrees of freedom. 配套的软件对种种光学视角误差的修正使分析结果更为精确,并可精确计算出模型的六个自由度运动情况(三个重心线位移,三个角位移),精度令人满意。 Software for supporting various optical viewing angle error correction enable more accurate analysis can accurately calculate the six degrees of freedom of movement of the model (three gravity linear displacement, angular displacement of three), satisfactory precision.

本发明在大量的模型试验研究如美国SOFEC公司的“Model Test of aTower Yoke FSO”、中国海洋石油总公司的“希望号油轮一阶运动水池模型试验”、上海市隧道局的“外环线黄浦江越江隧道沉箱工程的箱体系泊、拖曳、操纵、沉放试验研究”、中国海洋石油总公司的“转塔式系泊储油轮试验与理论研究”、广州船舶与海洋工程设计院的“FWMCM系统试验研究”、海洋工程国家重点实验室开放课题“张力腿平台理论与试验研究”、“大连油轮单点系泊系统”、“宁波甬江常洪隧道管段模型试验”、“50kDWT散货船码头系泊模型试验”等研究项目中应用该运动测量系统测量、分析了模型的六自由度运动,结果令人满意。 In the present invention, a large number of experimental research models such as the United States SOFEC's "Model Test of aTower Yoke FSO" "Link, the China National Offshore Oil Corporation" hope tanker order motion a pool model test ", the Shanghai Bureau of Huangpu River tunnel box system cross-river tunnel caisson mooring, towing, manipulation, sinking experimental research ", China National offshore oil Corporation" turret mooring tanker experimental and theoretical research, "the Guangzhou Institute of Naval architecture and marine Engineering" FWMCM system experimental Study ", State Key laboratory of ocean Engineering open issues" tension leg platform theoretical and experimental Research "," Dalian tanker single point mooring system "," Ningbo Yong Jiang Changhong tunnel model test "," 50kDWT bulk carrier pier system Park model test "and other research projects in the application of the motion system measurement, analysis of the six degrees of freedom motion model with satisfactory results. 本发明的系统可以为需要精确测量物体在一定范围内的运动提供一种准确度高、无滞后、对物体运动无影响的测量方法,可以用于海洋工程、机械等的模型试验和实际测量。 The system of the present invention may be requiring precise measurement object motion within a certain range to provide a high accuracy, no hysteresis, no effect on the measurement of the movement of the object, it can be used to test the model and actual measured marine engineering, machinery and the like.

Claims (2)

  1. 1.一种非接触式六自由度运动测量与分析系统,其特征在于包括信号产生和信号采集分析两个子系统,3个不在一条直线上的LED红外线发光源组成一个灯架(3),固定在测量目标(4)上,2个安在水平仪(6)上的PSD摄像头(5)成直角布置,对准测量目标(4),在测量区域附近形成一个测量直角坐标系统,信号产生子系统的蓄电池(1)接到电源分配器(2),电源分配器(2)将蓄电池(1)产生的直流电压加上3种不同的信号,分别加在灯架(3)的3个发光源ABC上,信号采集分析系统中的两个PSD摄像头(5)分别连接信号端放大盒(7),并经采集端放大盒(8)、信号解调器(9)连接到采集盒(10)及采集分析用计算机(11)。 1. A non-contact measuring six degrees of freedom of motion analysis system, comprising signal generation and signal acquisition and analysis of two subsystems, the infrared LED 3 is not a straight line on the light emitting sources to form a lamp housing (3), fixed on the measurement target (4), two safety PSD camera (5) at the level (6) is arranged at right angles, the alignment measurement target (4), forming a measurement orthogonal coordinate system in the vicinity of the measurement area, the signal generating subsystem the battery (1) to a power supply distributor (2), a power distributor (2) the DC voltage of the battery (1) produced by adding three different signals are applied to the lamp holder (3) of the three light emitting source on ABC, PSD two cameras (5) signal acquisition and analysis system of signal terminals respectively connected to amplification box (7), and harvested amplification box end (8), a signal demodulator (9) connected to a collection box (10) acquisition and analysis computer (11).
  2. 2.如权利要求1所说的一种非接触式六自由度运动测量与分析系统,其特征在于组成灯架(3)的LED红外线发光源由3个灯球组成,每个灯球为均匀布置了216个LED单元的直径为4.5cm的有机玻璃圆球。 2. A non-contact of said six degrees of freedom motion measurement and analysis system as claimed in claim 1, characterized in that the composition of the lamp holder (3) an LED emitting infrared light source is three balls, each ball uniform light LED units 216 are arranged in a 4.5cm diameter plexiglass ball.
CN 00125886 2000-10-31 2000-10-31 Non-contact six-freedom motion measuring and analysing system CN1290850A (en)

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CN103728008A (en) * 2014-01-13 2014-04-16 哈尔滨工业大学 Rocket engine spraying pipe motion vision measuring method and portable infrared light emitting device used in same
US9007601B2 (en) 2010-04-21 2015-04-14 Faro Technologies, Inc. Automatic measurement of dimensional data with a laser tracker
CN104596733A (en) * 2014-06-26 2015-05-06 中国特种飞行器研究所 Novel airplane model basin high-speed test data collecting method
US9041914B2 (en) 2013-03-15 2015-05-26 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
US9151830B2 (en) 2011-04-15 2015-10-06 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner
US9164173B2 (en) 2011-04-15 2015-10-20 Faro Technologies, Inc. Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light
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US9395174B2 (en) 2014-06-27 2016-07-19 Faro Technologies, Inc. Determining retroreflector orientation by optimizing spatial fit
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US9453913B2 (en) 2008-11-17 2016-09-27 Faro Technologies, Inc. Target apparatus for three-dimensional measurement system
US9482755B2 (en) 2008-11-17 2016-11-01 Faro Technologies, Inc. Measurement system having air temperature compensation between a target and a laser tracker
US9400170B2 (en) 2010-04-21 2016-07-26 Faro Technologies, Inc. Automatic measurement of dimensional data within an acceptance region by a laser tracker
US9007601B2 (en) 2010-04-21 2015-04-14 Faro Technologies, Inc. Automatic measurement of dimensional data with a laser tracker
US9772394B2 (en) 2010-04-21 2017-09-26 Faro Technologies, Inc. Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker
US9377885B2 (en) 2010-04-21 2016-06-28 Faro Technologies, Inc. Method and apparatus for locking onto a retroreflector with a laser tracker
US9146094B2 (en) 2010-04-21 2015-09-29 Faro Technologies, Inc. Automatic measurement of dimensional data with a laser tracker
US9164173B2 (en) 2011-04-15 2015-10-20 Faro Technologies, Inc. Laser tracker that uses a fiber-optic coupler and an achromatic launch to align and collimate two wavelengths of light
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US9151830B2 (en) 2011-04-15 2015-10-06 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner
US9207309B2 (en) 2011-04-15 2015-12-08 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote line scanner
US9482746B2 (en) 2011-04-15 2016-11-01 Faro Technologies, Inc. Six degree-of-freedom laser tracker that cooperates with a remote sensor
US9482529B2 (en) 2011-04-15 2016-11-01 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
US9494412B2 (en) 2011-04-15 2016-11-15 Faro Technologies, Inc. Diagnosing multipath interference and eliminating multipath interference in 3D scanners using automated repositioning
US9686532B2 (en) 2011-04-15 2017-06-20 Faro Technologies, Inc. System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices
US9448059B2 (en) 2011-04-15 2016-09-20 Faro Technologies, Inc. Three-dimensional scanner with external tactical probe and illuminated guidance
US9453717B2 (en) 2011-04-15 2016-09-27 Faro Technologies, Inc. Diagnosing multipath interference and eliminating multipath interference in 3D scanners using projection patterns
CN102506900A (en) * 2011-11-17 2012-06-20 大连理工大学 Coordinate direction correction method in vision measurement system, and device thereof
US9638507B2 (en) 2012-01-27 2017-05-02 Faro Technologies, Inc. Measurement machine utilizing a barcode to identify an inspection plan for an object
US9188430B2 (en) 2013-03-14 2015-11-17 Faro Technologies, Inc. Compensation of a structured light scanner that is tracked in six degrees-of-freedom
US9041914B2 (en) 2013-03-15 2015-05-26 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
US9482514B2 (en) 2013-03-15 2016-11-01 Faro Technologies, Inc. Diagnosing multipath interference and eliminating multipath interference in 3D scanners by directed probing
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CN103728008A (en) * 2014-01-13 2014-04-16 哈尔滨工业大学 Rocket engine spraying pipe motion vision measuring method and portable infrared light emitting device used in same
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