Method and device for determining the position coordinates of a target object

Patent metadata

Field	Value
Publication number	US-10048378-B2
Application number	US-201314654434-A
Country	US
Kind code	B2
Filing date	Dec 17, 2013
Priority date	Dec 20, 2012
Publication date	Aug 14, 2018
Grant date	Aug 14, 2018

Abstract

A method and device for determining position coordinates of a target object is disclosed. The method includes positioning a target device on the target object, transmitting a laser beam onto the target device, reflecting the laser beam off of the target device, recording an image of the target device by a camera device with the reflected laser beam as a light reflection in the image, and determining a focus of the light reflection in the image. The reflected laser beam is received and a distance to the target object is calculated from the received beam. A first offset is calculated from a focal length of the camera device, the calculated distance to the target object, and a first image coordinate of the focus of the light reflection in the image. The position coordinates of the target object are calculated from the distance and the first offset.

First claim

The invention claimed is:

1. A method for determining position coordinates of a target object in a measurement range in at least two dimensions, comprising the steps of:
positioning a target device with a reflector element on the target object;
transmitting a laser beam by a transmitting element of a laser distance measuring device onto the target device;
reflecting at least part of the laser beam off of the reflector element as a reflected laser beam;
recording an image of the target device by a camera device with the reflected laser beam as a light reflection in the image;
determining a focus of the light reflection in the image;
receiving the reflected laser beam as a received beam by a receiver element of the laser distance measuring device;
calculating a distance to the target object from the received beam;
calculating a first offset from a focal length of the camera device, the calculated distance to the target object, and a first image coordinate of the focus of the light reflection in the image; and
calculating the position coordinates of the target object from the distance and the first offset
wherein a sequence of images of the target device is recorded by the camera device, and
wherein an image from the sequence of images with a strongest light reflection is used for determining the focus of the light reflection.

2. The method according to claim 1 , further comprising:
calculating a second offset from the focal length of the camera device, the calculated distance to the target object, and a second image coordinate of the focus of the light reflection in the image; and
calculating the position coordinates of the target object using the second offset.

3. The method according to claim 1 , wherein the steps of recording and calculating the distance are started simultaneously by a control device.

4. The method according to claim 3 , wherein the image of the target device recorded by the camera device is assigned by the control device to the distance.

5. A device for determining position coordinates of a target object in a measurement range in at least two dimensions for performing the method according to claim 1 , comprising:
a target device with a reflector element that is positioned on the target object;
a laser distance measuring device with a transmitting element that transmits a laser beam, a receiver element that receives as a received beam a portion of the laser beam that is reflected by the reflector element, and a control element;
a camera device with a receiver device and a control element:
a reference device with a first axis and a second axis, wherein the first axis and the second axis are arranged perpendicular to each other and intersect at an intersection; and
a control device with a control element for controlling the laser distance measuring device and the camera device, and an evaluation element for calculating the position coordinates of the target object.

6. The device according to claim 5 , wherein the reflector element is a rotationally symmetrical body or a section of a rotationally symmetrical body.

7. The device according to claim 5 , wherein the laser distance measuring device has a beam shaping optical system that expands the laser beam with an aperture angle greater than 80°.

8. The device according to claim 7 , wherein the beam shaping optical system expands the laser beam in a direction substantially parallel to a measuring plane.

9. The device according to claim 8 , wherein the beam shaping optical system collimates or focuses the laser beam in a direction substantially perpendicular to the measuring plane.

10. The device according to claim 5 , wherein the laser distance measuring device has a motor unit, wherein the motor unit pivots the laser beam around an axis of rotation perpendicular to a measuring plane or around a pivot point.

11. The device according to claim 5 , wherein the laser distance measuring device has a beam shaping optical system and a motor unit, wherein the beam shaping optical system expands the laser beam with an aperture angle up to 10° and the motor unit moves the laser beam around an axis of rotation perpendicular to a measuring plane or around a pivot point.

12. The device according to claim 5 , wherein the target device is attached to a hand-held tool apparatus.

13. A method for determining position coordinates of a target object in a measurement range in at least two dimensions, comprising the steps of:
positioning a target device with a reflector element on the target object;
transmitting a laser beam by a transmitting element of a laser distance measuring device onto the target device;
reflecting at least part of the laser beam off of the reflector element as a reflected laser beam;
recording an image of the target device by a camera device with the reflected laser beam as a light reflection in the image;
determining a focus of the light reflection in the image;
receiving the reflected laser beam as a received beam by a receiver element of the laser distance measuring device;
calculating a distance to the target object from the received beam;
calculating a first offset from a focal length of the camera device, the calculated distance to the target object, and a first image coordinate of the focus of the light reflection in the image; and
calculating the position coordinates of the target object from the distance and the first offset
wherein a sequence of images of the target device is recorded by the camera device, and
wherein an averaging over multiple images from the sequence of images is used for determining the focus of the light reflection.

14. The method according to claim 13 , further comprising:
calculating a second offset from the focal length of the camera device, the calculated distance to the target object, and a second image coordinate of the focus of the light reflection in the image; and
calculating the position coordinates of the target object using the second offset.

15. The method according to claim 13 , wherein the steps of recording and calculating the distance are started simultaneously by a control device.

16. The method according to claim 15 , wherein the image of the target device recorded by the camera device is assigned by the control device to the distance.

17. A device for determining position coordinates of a target object in a measurement range in at least two dimensions for performing the method according to claim 13 , comprising:
a target device with a reflector element that is positioned on the target object;
a laser distance measuring device with a transmitting element that transmits a laser beam, a receiver element that receives as a received beam a portion of the laser beam that is reflected by the reflector element, and a control element;
a camera device with a receiver device and a control element:
a reference device with a first axis and a second axis, wherein the first axis and the second axis are arranged perpendicular to each other and intersect at an intersection; and
a control device with a control element for controlling the laser distance measuring device and the camera device, and an evaluation element for calculating the position coordinates of the target object.

18. The device according to claim 17 , wherein the reflector element is a rotationally symmetrical body or a section of a rotationally symmetrical body.

19. The device according to claim 17 , wherein the laser distance measuring device has a beam shaping optical system that expands the laser beam with an aperture an

Assignees

• Hilti Ag

Inventors

• Gogolla Torsten
• Winter Andreas

Classifications

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S17/46 Primary

  Indirect determination of position data · CPC title

• G01C15/002 Primary

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• G01S7/4913

  Circuits for detection, sampling, integration or read-out · CPC title

• G01S17/023

  Physics · mapped topic