IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0851221
(2013-03-27)
|
등록번호 |
US-8724119
(2014-05-13)
|
발명자
/ 주소 |
- Steffey, Kenneth
- Pease, Gregory D.
- Bridges, Robert E.
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
8 인용 특허 :
107 |
초록
▼
A method for locking onto and tracking a selected retroreflector target with a laser tracker includes steps of: actuating by the operator the handheld appliance and sending a wireless signal; responding to the wireless message by repetitively carrying out steps in the following loop and exiting the
A method for locking onto and tracking a selected retroreflector target with a laser tracker includes steps of: actuating by the operator the handheld appliance and sending a wireless signal; 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 the cone of light by the at least one retroreflector target and capturing an array image on the photosensitive array; determining which retroreflector target meets the retroreflector target criterion; determining whether the position detector is receiving the reflected beam; 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; and steering the first light beam toward the selected retroreflector target.
대표청구항
▼
1. A method for locking onto and tracking a selected retroreflector target with a laser tracker, the locking onto and tracking carried out under direction of an operator, the method including steps of: providing at least one retroreflector target;providing the laser tracker, the laser tracker having
1. A method for locking onto and tracking a selected retroreflector target with a laser tracker, the locking onto and tracking carried out under direction of an operator, the method including steps of: providing at least one retroreflector target;providing the laser tracker, the laser tracker having a structure, a first light source, a distance meter, a first angular transducer, a second angular transducer, a position detector, a camera, a second light source, and a processor, the structure rotatable about a first axis and a second axis; the first light source configured to produce a first light beam that cooperates with the distance meter, the first angular transducer configured to measure a first angle of rotation about the first axis, the second angular transducer configured to measure a second angle of rotation about the second axis, the position detector configured to receive a reflected beam, the reflected beam being the first light beam reflected by a retroreflector target, the camera including a lens system and a photosensitive array, the second light source configured to provide a cone of light, the first light beam and the cone of light being fixed in relation to the structure, the second light source configured to cooperate with the camera, the camera having a field of view, the processor configured to operate the laser tracker;providing a tracker transceiver coupled to the laser tracker or coupled to a computer in communication with the laser tracker, the tracker transceiver including a receiver and optionally a transmitter;providing a handheld appliance having an appliance transceiver affixed to the handheld appliance, the appliance transceiver configured to wirelessly communicate with the tracker transceiver, the appliance transceiver configured to emit a wireless signal selected from the group consisting of an RF signal, a microwave signal, and an infrared signal;positioning the at least one retroreflector target within the field of view of the camera;actuating by the operator the handheld appliance and in response to the actuation sending a first wireless signal from the appliance transceiver to the tracker transceiver;in response to reception of the first wireless signal by the tracker receiver, determining a retroreflector target criterion;responding to the first wireless signal by repetitively carrying out steps in a loop including the following steps (a)-(e) and exiting the loop when an exit condition is met:(a) reflecting part of the cone of light by the at least one retroreflector target and capturing an array image on the photosensitive array;(b) determining which of the at least one retroreflector target meets the retroreflector target criterion, the determining based at least in part on the array image, the retroreflector target that meets the retroreflector target criterion referred to as the selected retroreflector target;(c) measuring a signal level with the position detector and determining, based on the signal level, whether the position detector is receiving the reflected beam;(d) establishing whether the exit condition is met, the exit condition being met if and only if the position detector receives the reflected beam and the reflected beam comes from the selected retroreflector target;(e) activating the first motor and the second motor to steer the first light beam toward the selected retroreflector target;activating the first motor and the second motor to steer the reflected beam so as to keep the reflected beam on the position detector; andmeasuring to the selected retroreflector target a distance with the distance meter, a third angle with the first angular transducer, and a fourth angle with the second angular transducer. 2. The method of claim 1, wherein, in the step of providing a handheld appliance, the handheld appliance is a handheld phone. 3. The method of claim 1, wherein, in the step of providing a handheld appliance, the handheld appliance is a remote control. 4. The method of claim 1, wherein the step of determining a retroreflector target criterion further includes choosing by the operator a retroreflector target criterion with the handheld appliance. 5. The method of claim 1, wherein the step of determining a retroreflector target criterion further includes providing and using a default retroreflector target criterion. 6. The method of claim 4, wherein the criterion is selected from the group consisting of: the retroreflector target having an image nearest a center of the photosensitive array, the retroreflector target having an image nearest an edge of the photosensitive array, the retroreflector target having an image having the greatest speed from among the retroreflector target images as determined from successive array images, the retroreflector target image corresponding to the retroreflector target located nearer an inertial measurement unit than any other retroreflector target in the field of view of the camera, the retroreflector target having an image corresponding to the retroreflector target located nearer than any other retroreflector target to a line originating at the inertial measurement unit and projecting toward the retroreflector target, and the retroreflector target selected by the operator from among retroreflector targets represented by images in the array image sent from the transceiver to the handheld appliance. 7. The method of claim 1, wherein the step of providing a handheld appliance further includes steps of: providing an inertial measurement unit affixed to the handheld appliance, the inertial measurement unit configured to measure inertial quantities, the inertial measurement unit in communication with the appliance transceiver;placing the inertial measurement unit in the proximity of a second retroreflector target;measuring with the laser tracker a first position of the second retroreflector;measuring initial inertial quantities with the inertial measurement unit;wirelessly transmitting initial inertial quantities from the appliance transceiver to the tracker transceiver; andsetting an initial position of the inertial measurement unit to the first position of the second retroreflector. 8. The method of claim 7, wherein, in the step of providing a handheld appliance, the inertial measurement unit includes a three-dimensional accelerometer and a three-dimensional gyroscope, the three-dimensional accelerometer configured to measure acceleration in three dimensions and the three-dimensional gyroscope configured to measure changes in angular orientation about three axes. 9. The method of claim 7, wherein the step of actuating by the operator the handheld appliance further includes steps of: placing the inertial measurement unit in proximity of a third retroreflector target;measuring second inertial quantities with the inertial measurement unit;wirelessly transmitting second inertial quantities from the appliance transceiver unit to the tracker transceiver;obtaining an approximate position of the third retroreflector target based at least in part on the second inertial quantities received by the tracker transceiver; anddetermining that the third retroreflector target is the selected retroreflector target, the determining based at least in part on the approximate position of the inertial measurement unit. 10. The method of claim 7, wherein the step of actuating by the operator the handheld appliance further includes steps of: aiming by the operator the handheld appliance in the direction of a third retroreflector target;measuring second inertial quantities with the inertial measurement unit;wirelessly transmitting second inertial quantities from the appliance transceiver to the tracker transceiver;obtaining an approximate line on which the third retroreflector target lies, the approximate line based at least in part on the second inertial quantities received by the tracker transceiver; anddetermining that the third retroreflector target is the selected retroreflector target, the determining based at least in part on a line on which the third retroreflector target lies.
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