METHOD AND APPARATUS FOR USING GESTURES TO CONTROL A LASER TRACKER
First Claim
1. A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker with steps comprising:
- providing a rule of correspondence between each of a plurality of commands and each of a plurality of spatial patterns;
selecting by the user a first command from among the plurality of commands;
moving by the user, between a first time and a second time, a retroreflector in a first spatial pattern from among the plurality of spatial patterns, wherein the first spatial pattern corresponds to the first command;
projecting a first light from the laser tracker to the retroreflector;
reflecting a second light from the retroreflector, the second light being a portion of the first light;
obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by the laser tracker between the first time and the second time;
determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and
executing the first command with the laser tracker.
1 Assignment
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Accused Products
Abstract
A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker includes steps of providing a rule of correspondence between each of a plurality of commands and each of a plurality of spatial patterns, and selecting by the user a first command from among the plurality of commands. The method further includes the steps of moving by the user, between a first time and a second time, a retroreflector in a first spatial pattern from among the plurality of spatial patterns, wherein the first spatial pattern corresponds to the first command, and projecting a first light from the laser tracker to the retroreflector. The method also includes the steps of reflecting a second light from the retroreflector, the second light being a portion of the first light, and obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by the laser tracker between the first time and the second time. The method includes also the steps of determining the first command based at least in part on processing the first sensed data according to the rule of correspondence, and executing the first command with the laser tracker.
105 Citations
34 Claims
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1. A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker with steps comprising:
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providing a rule of correspondence between each of a plurality of commands and each of a plurality of spatial patterns; selecting by the user a first command from among the plurality of commands; moving by the user, between a first time and a second time, a retroreflector in a first spatial pattern from among the plurality of spatial patterns, wherein the first spatial pattern corresponds to the first command; projecting a first light from the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by the laser tracker between the first time and the second time; determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and executing the first command with the laser tracker. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker with steps comprising:
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providing a rule of correspondence between each of a plurality of commands and each of a plurality of positions, each position being a three-dimensional coordinate; selecting by the user a first command from among the plurality of commands; moving by the user a retroreflector to a first position from among the plurality of positions, wherein the first position corresponds to the first command; projecting a first light from the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light; determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and executing the first command with the laser tracker. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method for optically communicating, from a user to a laser tracker, a command to control operation of the laser tracker with steps comprising:
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providing a rule of correspondence between each of a plurality of commands and each of a plurality of temporal patterns; selecting by the user a first command from among the plurality of commands; projecting a first light from the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light; creating by the user, between a first time and a second time, a first temporal pattern, the first temporal pattern including at least a decrease in the third optical power followed by an increase in the third optical power, the first temporal pattern corresponding to the first command; determining the first command based at least in part on processing the first sensed data according to the rule of correspondence; and executing the first command with the laser tracker. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A method for optically communicating, from a user to a six degree-of-freedom laser tracker, a command to control operation of the six degree-of-freedom laser tracker with steps comprising:
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providing a rule of correspondence between a plurality of commands and a plurality of pose patterns, wherein each pose pattern includes a change in at least one coordinate from an initial pose to a final pose, each pose having six coordinates—
three translational coordinates and three orientational coordinates;selecting by the user a first command from among the plurality of commands; measuring the at least one coordinate of a first pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker; changing, by the user between a first time and a second time, the at least one coordinate of the pose of the six degree-of-freedom target; measuring the at least one coordinate of a second pose of the target with the six degree-of-freedom laser tracker; determining the first command based at least in part on the difference between the measured at least one coordinate of the first pose and the measured at least one coordinate of the second pose according to the rule of correspondence; and executing the first command by the six degree-of-freedom laser tracker. - View Dependent Claims (29)
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30. A method for optically communicating, from a user to a laser tracker, a command to direct a beam of light from the laser tracker to a retroreflector and lock onto the retroreflector with steps comprising:
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projecting a first light from a light source disposed on the laser tracker to the retroreflector; moving by the user, between a first time and a second time, the retroreflector in a predefined spatial pattern, wherein the predefined spatial pattern corresponds to the command; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by imaging the third light onto a photosensitive array disposed on the laser tracker and converting the third light on the photosensitive array into digital form; determining by the laser tracker that the first sensed data corresponds to the predefined spatial pattern; pointing the beam of light from the laser tracker to the retroreflector; and locking onto the retroreflector with the beam of light from the laser tracker.
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31. A method for optically communicating, from a user to a laser tracker, a command to direct a beam of light from the laser tracker to a retroreflector and lock onto the retroreflector with steps comprising:
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projecting a first light from a light source disposed on the laser tracker to the retroreflector; reflecting a second light from the retroreflector, the second light being a portion of the first light; obtaining first sensed data by sensing a third light, the third light being a portion of the second light, wherein the first sensed data is obtained by imaging the third light onto a photosensitive array disposed on the laser tracker and converting the third light on the photosensitive array into digital form; generating by the user, between a first time and a second time, a predefined temporal pattern, the predefined temporal pattern including at least a decrease in the third optical power followed by an increase in the third optical power, the predefined temporal pattern corresponding to the command; determining by the laser tracker that the first sensed data corresponds to the predefined temporal pattern; pointing the beam of light from the laser tracker to the retroreflector; and locking onto the retroreflector with the beam of light from the laser tracker.
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32. A method for optically communicating, from a user to a six degree-of-freedom laser tracker, a command to direct a beam of light from the six degree-of-freedom laser tracker to a retroreflector and lock onto the retroreflector, the retroreflector affixed to a six degree-of-freedom target, with steps comprising:
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providing a rule of correspondence between the command and a predefined pose pattern of the six degree-of-freedom target, the command directing the six degree-of-freedom laser tracker to point a beam of light from the six degree-of-freedom laser tracker to the retroreflector and lock onto the retroreflector, the predefined pose pattern including a change in at least one coordinate from an initial pose to a final pose, each pose having six coordinates—
three translational coordinates and three orientational coordinates;measuring the at least one coordinate of a first pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker; changing, by the user between a first time and a second time, the at least one coordinate of the pose of the six degree-of-freedom target; measuring the at least one coordinate of a second pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker; determining by the six degree-of-freedom laser tracker that the rule of correspondence has been satisfied; pointing the beam of light from the laser tracker to the retroreflector; and locking onto the retroreflector with the beam of light from the six degree-of-freedom laser tracker.
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33. A laser measurement system, comprising:
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a laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, a processor, and a camera system; a communication device that includes a second light source and an operator-controlled device that controls emission of a second light from the second light source; a retroreflector target not disposed on the communication device; wherein the camera system is operable to receive the second light and to convert the second light into a digital image, and wherein the processor is operable to determine a command to control operation of the laser tracker based, at least in part, on a pattern of movement of the second light source between a first time and a second time and the digital image.
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34. A laser measurement system, comprising:
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a laser tracker having a structure rotatable about a first axis and a second axis, a first light source that launches a first light beam from the structure, a distance meter, a first angular encoder that measures a first angle of rotation about the first axis, a second angular encoder that measures a second angle of rotation about the second axis, a processor, and a camera system; a communication device that includes a second light source and an operator-controlled device that controls emission of light from the second light source; a retroreflector target separate from the communication device; wherein the camera system is operable to receive the light emitted from the second light source and to convert the light into a digital image, and wherein the processor is operable to determine a command to control operation of the laser tracker based, at least in part, on a change in the optical power of the second light source between a first time and a second time.
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Specification