Method for tracking a retroreflector and device for carrying out such a method

Patent metadata

Field	Value
Publication number	US-12429591-B2
Application number	US-202318159146-A
Country	US
Kind code	B2
Filing date	Jan 25, 2023
Priority date	Feb 8, 2022
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

A method for tracking a retroreflector that is movable in space includes emitting a measurement light beam toward the retroreflector. A tracking control signal is generated as a function of the position of the measurement light beam reflected by the retroreflector on a detector. A status determination is continuously made as to whether the measurement light beam is steerable to follow the retroreflector or whether the retroreflector has been lost. In a search mode based on it having been determined that the retroreflector has been lost, a trajectory estimation is performed based on measurement values to determine an estimated trajectory. A search pattern adapted to the estimated trajectory is created, and the measurement light beam is then moved along a corresponding search path using tracking control signals derived from the estimated trajectory and the search pattern. The search mode is terminated upon a tracking control signal being generatable again.

First claim

What is claimed is:

1. A method for tracking a retroreflector that is movable in space, the method comprising:
emitting, by a light source, a measurement light beam toward the retroreflector, which reflects the measurement light beam back in a direction opposite to an incident direction, wherein at least a portion of the measurement light beam that was reflected is incident at a position on a position-sensitive detector;
generating, by a signal processor, a tracking control signal as a function of the position of the measurement light beam on the position-sensitive detector, the tracking control signal being used by a tracking actuator mechanism to steer the measurement light beam to follow the retroreflector;
continuously making a status determination, by the signal processor, as to whether the measurement light beam is steerable by the tracking actuator mechanism to follow the retroreflector or whether the retroreflector has been lost; and
performing, in a search mode based on it having been determined that the retroreflector has been lost, a trajectory estimation based on measurement values from the tracking actuator mechanism in order to determine an estimated trajectory of the retroreflector for future points in time, wherein search areas around the estimated trajectory are determined for the future points in time, wherein a search pattern adapted to the estimated trajectory and the determined search areas is created, wherein the measurement light beam is then moved along a corresponding search path with aid of the tracking actuator mechanism using tracking control signals derived from the estimated trajectory and the created search pattern, and

wherein the search mode is terminated upon a tracking control signal being generatable by the position-sensitive detector again,
wherein the measurement light beam is repeatedly moved along a spiral search pattern from a center of the search areas to a boundary of the search areas and back again.

2. The method as recited in claim 1 , wherein a spatial extent of the search areas around the estimated trajectory of the retroreflector is increased as the search mode proceeds.

3. The method as recited in claim 1 , wherein the trajectory estimation is performed with aid of a Kalman filter which extrapolates an actual trajectory traveled until the retroreflector was lost.

4. A method for tracking a retroreflector that is movable in space, the method comprising:
emitting, by a light source, a measurement light beam toward the retroreflector, which reflects the measurement light beam back in a direction opposite to an incident direction, wherein at least a portion of the measurement light beam that was reflected is incident at a position on a position-sensitive detector;
generating, by a signal processor, a tracking control signal as a function of the position of the measurement light beam on the position-sensitive detector, the tracking control signal being used by a tracking actuator mechanism to steer the measurement light beam to follow the retroreflector;
continuously making a status determination, by the signal processor, as to whether the measurement light beam is steerable by the tracking actuator mechanism to follow the retroreflector or whether the retroreflector has been lost; and
performing, in a search mode based on it having been determined that the retroreflector has been lost, a trajectory estimation based on measurement values from the tracking actuator mechanism in order to determine an estimated trajectory of the retroreflector for future points in time, wherein search areas around the estimated trajectory are determined for the future points in time, wherein a search pattern adapted to the estimated trajectory and the determined search areas is created, wherein the measurement light beam is then moved along a corresponding search path with aid of the tracking actuator mechanism using tracking control signals derived from the estimated trajectory and the created search pattern, and

wherein the search mode is terminated upon a tracking control signal being generatable by the position-sensitive detector again,
wherein the measurement light beam is initially moved for a predetermined period of time at a first speed along the estimated trajectory of the retroreflector, and after the predetermined period of time has elapsed, the measurement light beam is moved in an oscillating manner about the estimated trajectory at a second speed that is greater than the first speed, an oscillation amplitude increasing as the search mode proceeds.

5. The method as recited in claim 4 , wherein a spatial extent of the search areas around the estimated trajectory of the retroreflector is increased as the search mode proceeds.

6. The method as recited in claim 4 , wherein the measurement light beam is repeatedly moved along a spiral search pattern from a center of the search areas to a boundary of the search areas and back again.

7. The method as recited in claim 4 , wherein the measurement light beam is moved back and forth between opposite boundaries of the search areas along a serpentine search pattern in an oscillating manner about a predetermined direction.

8. A device for tracking a retroreflector that is movable in space, the device comprising:
a light source configured to emit a measurement light beam toward the retroreflector, which reflects the measurement light beam back in a direction opposite to an incident direction;
a position-sensitive detector arranged such that at least a portion of the retro-reflected measurement light beam that has been reflected is incident at a position on the position-sensitive detector; and
a signal processor configured to:
generate a tracking control signal as a function of the position of the measurement light beam on the detector, the tracking control signal being usable by a tracking actuator mechanism to steer the measurement light beam to follow the retroreflector,
continuously make a status determination as to whether the measurement light beam is steerable by the tracking actuator mechanism to follow the retroreflector or whether the retroreflector has been lost,
perform, in a search mode based on it having been determined that the retroreflector has been lost, a trajectory estimation based on measurement values from the tracking actuator mechanism in order to determine an estimated trajectory of the retroreflector for future points in time, and
determine search areas around the estimated trajectory for the future points in time, and
create a search pattern adapted to the estimated trajectory and the determined search areas, and
move, after creating the search pattern, the measurement light beam along a corresponding search path with aid of the tracking actuator mechanism using tracking control signals derived from the estimated trajectory and the created search pattern, and

wherein the device is configured to terminate the search mode upon a tracking control signal being generatable by the position-sensitive detector again, and
wherein the measurement light beam is initially moved for a predetermined period of time at a first speed along the estimated trajectory of the retroreflector, and after the predetermined period of time has elapsed, the measurement light beam is moved in an oscillating manner about the estimated trajectory at a second speed that is greater than the first speed, an oscillation amplitude increasing as the search mode proceeds.

9. The device as recited in claim 8 , wherein the signal processor is configured to increase a spatial extent of the search areas around the estimated trajectory as the search mode proceeds.

10. The device as recited in claim 8 , wherein the tracking actuator me

Assignees

• Heidenhain Gmbh Dr Johannes

Inventors

• Meissner Markus
• Schwanecke Alexander
• Tekles Nikolas
• Langrieger Franz

Classifications

• G01B11/005

  coordinate measuring machines · CPC title

• G01S7/4812

  transmitted and received beams following a coaxial path · CPC title

• G01C15/002

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

• G01S17/66 Primary

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