Enhanced position detector in laser tracker

• US 8,537,376 B2
• Filed: 03/23/2012
• Issued: 09/17/2013
• Est. Priority Date: 04/15/2011
• Status: Active Grant

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Brown, Lawrence B., Day, Jonathan Robert
• Primary Examiner(s): Ton, Tri T
• Application Number:
  US13/427,935
• Publication Number:
  US 20120262730A1
• Time in Patent Office: 543 Days
• Field of Search: 356614-624, 356/4.01, 356/3.11, 356/5.12, 356/5.13, 356/3.01, 356/3.1, 356/3
• US Class Current: 356/615
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4818 using optical fibres
• CPC Class Codes: G01S 7/491 Details of non-pulse systems
• CPC Class Codes: G06F 17/40 Data acquisition and logging for input to computer G06F3/00
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A device sends a first light beam to a target which returns a portion of the first beam as a second beam. First and second motors direct the first light beam to a first direction determined by first and second angles of rotation about first and second axes. First and second angle measuring devices measure first and second angles of rotation. A distance meter measures a first distance between device and target. A second portion of the second beam passes through a diffuser and onto a position detector which produces a first signal in response. A control system sends a second signal to the first motor and a third signal to the second motor, the second and third signals based on the first signal. The control system adjusts the first direction of the first beam to the target position. A processor provides a 3D coordinate of the target.

Claims

1. A coordinate measurement device that sends a first beam of light to a remote retroreflector target, the retroreflector target having a position in space, the position in space being a function of time, the retroreflector target returning a portion of the first beam as a second beam, the measurement device comprising:

a first motor and a second motor that together direct the first beam of light to a first direction, the first direction determined by a first angle of rotation about a first axis and a second angle of rotation about a second axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the second motor;

a first angle measuring device that measures the first angle of rotation and a second angle measuring device that measures the second angle of rotation;

a distance meter that measures a first distance from the coordinate measurement device to the retroreflector target based at least in part on a first portion of the second beam received by a first optical detector;

a position detector assembly that includes a position detector and a diffuser, a second portion of the second beam passing through the diffuser and onto the position detector, the position detector configured to produce a first signal in response to a position of the second portion on the position detector;

a control system that sends a second signal to the first motor and a third signal to the second motor, the second signal and the third signal based at least in part on the first signal, the control system configured to adjust the first direction of the first beam to the position in space of the retroreflector target; and

a processor that provides a three-dimensional coordinate of the retroreflector target, the three-dimensional coordinate based at least in part on the first distance, the first angle of rotation, and the second angle of rotation.

2. The coordinate measurement device of claim 1 wherein the diffuser is a holographic diffuser.

3. The coordinate measurement device of claim 1 wherein the position detector assembly further includes a lens and a spatial filter, the lens having a positive focal length, the spatial filter placed a second distance from the lens approximately equal to the lens focal length, the spatial filter placed between the lens and the position detector.

4. A coordinate measurement device that sends a first beam of light to a remote retroreflector target, the retroreflector target having a position in space, the position in space being a function of time, the retroreflector target returning a portion of the first beam as a second beam, the measurement device comprising:

a first motor and a second motor that together direct the first beam of light to a first direction, the first direction determined by a first angle of rotation about a first axis and a second angle of rotation about a second axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the second motor;

a first angle measuring device that measures the first angle of rotation and a second angle measuring device that measures the second angle of rotation;

a distance meter that measures a first distance from the coordinate measurement device to the retroreflector target based at least in part on a first portion of the second beam received by a first optical detector;

a position detector assembly that includes a position detector, a lens, and a spatial filter, the lens having a positive focal length, the spatial filter placed a second distance from the lens approximately equal to the lens focal length, the spatial filter placed between the lens and the position detector, a second portion of the second beam passing through the lens and spatial filter onto the position detector, the position detector configured to produce a first signal in response to a position of the second portion on the position detector;

a control system that sends a second signal to the first motor and a third signal to the second motor, the second signal and the third signal based at least in part on the first signal, the control system configured to adjust the first direction of the first beam to the position in space of the retroreflector target; and

a processor that provides a three-dimensional coordinate of the retroreflector target, the three-dimensional coordinate based at least in part on the first distance, the first angle of rotation, and the second angle of rotation.

5. The coordinate measurement device of claim 4 wherein the position detector assembly further includes a diffuser, the second portion of the second light passing through the diffuser.

6. The coordinate measurement device of claim 5 wherein the diffuser is a holographic diffuser.