Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker

Patent metadata

Field	Value
Publication number	US-10209059-B2
Application number	US-201715856717-A
Country	US
Kind code	B2
Filing date	Dec 28, 2017
Priority date	Apr 21, 2010
Publication date	Feb 19, 2019
Grant date	Feb 19, 2019

Abstract

A three-dimensional (3D) coordinate measurement system includes: a retroreflector; a laser tracker including: a first light source; a second light source; at least one camera proximate the second light source; and a processor responsive to executable instructions which when executed by the processor is operable to determine, in a first instance, that a follow-operator gesture has been given by an operator and in response turn the laser tracker to follow movement of the operator.

First claim

What is claimed is:

1. A three-dimensional (3D) coordinate measurement system, comprising:
a retroreflector;
a laser tracker including:
a first light source;
a second light source;
at least one camera proximate the second light source; and
a processor responsive to executable instructions which when executed by the processor is operable to determine, in a first instance, that a follow-operator gesture has been given by an operator and in response turn the laser tracker to follow movement of the operator.

2. The system of claim 1 , wherein the follow-operator gesture is at least one of: a movement of the retroreflector in space; and, a temporal change in returned light from the retroreflector.

3. The system of claim 2 , wherein the laser tracker is further configured to illuminate the retroreflector with the second light source during the follow-operator gesture and to capture an image of the illuminated retroreflector in response.

4. The system of claim 2 , wherein the follow-operator gesture is performed with the retroreflector held in a hand of the operator.

5. The system of claim 4 , wherein the follow-operator gesture is based on a position of an arm of the operator relative to a torso of the operator.

6. The system of claim 1 , wherein:
the processor responsive to executable instructions which when executed by the processor is further operable to:
in a second instance, determine that a lock-on gesture has been given by the operator and in response, steer a beam of light from the first light source onto the retroreflector.

7. The system of claim 6 , wherein the lock-on gesture is at least one of: a movement of the retroreflector in space; and, a temporal change in returned light from the retroreflector.

8. The system of claim 7 , wherein the laser tracker is further configured to illuminate the retroreflector during the lock-on gesture with the second light source and to capture an image of the illuminated retroreflector in response.

9. The system of claim 7 , wherein the lock-on gesture is performed with the retroreflector held in a hand of the operator.

10. The system of claim 9 , wherein the lock-on gesture is based on a position of an arm of the operator relative to a torso of the operator.

11. The system of claim 6 , wherein the processor is further responsive to executable instructions which when executed by the processor is operable to, in the second instance, track movement of the retroreflector with the beam of light following the lock-on gesture.

12. The system of claim 6 , wherein the processor is further responsive to executable instructions which when executed by the processor is operable to, in the second instance, determine 3D coordinates of the retroreflector following the lock-on gesture.

13. A method for measuring three-dimensional (3D) coordinates, comprising:
providing a retroreflector and a laser tracker, the laser tracker including a first light source, a second light source, at least one camera proximate the second light source, and a processor;
in a first instance:
giving by an operator a follow-operator gesture;
responding with the processor, executing executable instructions, to the follow-operator command by turning the laser tracker to follow movement of the operator.

14. The method of claim 13 , wherein in giving the follow-operator gesture, the follow-operator gesture is at least one of: a movement of the retroreflector in space; and, a temporal change in returned light from the retroreflector.

15. The method of claim 14 , wherein during the follow-operator gesture, the laser tracker illuminates the retroreflector with the second light source and captures an image of the illuminated retroreflector in response.

16. The method of claim 14 , wherein the follow-operator gesture is performed with the retroreflector held in a hand of the operator.

17. The method of claim 16 , wherein the follow-operator gesture is based on a position of an arm of the operator relative to a torso of the operator.

18. The method of claim 13 , further comprising:
in a second instance:
giving by the operator a lock-on gesture;
responding with the processor, executing executable instructions, to the lock-on gesture by steering a beam of light from the first light source onto the retroreflector.

19. The method of claim 18 , wherein in giving by the operator a lock-on gesture, the lock-on gesture is at least one of: a movement of the retroreflector in space; and, a temporal change in returned light from the retroreflector.

20. The method of claim 19 , wherein during the lock-on gesture, the laser tracker illuminates the retroreflector with the second light source and captures an image of the illuminated retroreflector in response.

21. The method of claim 19 , wherein in the second instance, the lock-on gesture is performed with the retroreflector held in a hand of the operator.

22. The method of claim 21 , wherein the lock-on gesture is based on a position of an arm of the operator relative to a torso of the operator.

23. The method of claim 18 , wherein following the second instance, the laser tracker tracks movement of the retroreflector with the beam of light.

24. The method of claim 18 , wherein following the second instance, the laser tracker determines 3D coordinates of the retroreflector.

Assignees

• Faro Tech Inc

Inventors

• Nagalla Kalyan
• Mehler Robert C
• Bridges Robert E

Classifications

• G01S17/86

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

• G01C15/002

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

• G06F3/0425

  using a single imaging device like a video camera for tracking the absolute position of a single or a plurality of objects with respect to an imaged reference surface, e.g. video camera imaging a display or a projection screen, a table or a wall surface, on which a computer generated image is displayed or projected (tracking a projected light spot to determine a position on a display surface G06F3/0386) · CPC title

• G01B11/002 Primary

  for measuring two or more coordinates · CPC title

• G01S17/66

  Tracking systems using electromagnetic waves other than radio waves · CPC title