Method and apparatus for using gestures to control a laser tracker

• US 8,576,380 B2
• Filed: 09/13/2012
• Issued: 11/05/2013
• Est. Priority Date: 04/21/2010
• Status: Expired due to Fees

• Current Assignee: Faro Technologies Incorporated
• Original Assignee: Faro Technologies Incorporated
• Inventors: Steffensen, Nils P., Wilson, Todd P., Steffey, Kenneth, Hoffer, John M. Jr., Bridges, Robert E.
• Primary Examiner(s): Toatley, Gregory J
• Assistant Examiner(s): DECENZO, SHAWN H
• Application Number:
  US13/613,370
• Publication Number:
  US 20130010308A1
• Time in Patent Office: 418 Days
• Field of Search: 356/4.01, 356/4.02, 356/139.03, 356/3, 356/138, 356/614, 250/559.29, 250/559.3, 702/152, 702/153
• US Class Current: 356/3
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01J 1/20 intensity of the measured or reference value being varied to equalise their effects at the detectors, e.g. by varying incidence angle
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0304 Detection arrangements using opto-electronic means constructional details of pointing devices not related to the detection arrangement using opto-electronic means G06F3/033; optical digitisers G06F3/042
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Abstract

A method for optically communicating, from a user to a six degree-of-freedom (6DOF) laser tracker, a command to control operation of the tracker includes providing a rule of correspondence between commands and pose patterns, each pattern including a change in a coordinate from an initial to a final pose, each pose having three translational coordinates and three orientational coordinates. Also, selecting a first command from among the commands and measuring the coordinate of a first pose of the 6DOF target with the tracker. Further, changing between first and second times, the coordinate of the pose of the target and measuring the coordinate of a second pose of the target with the tracker. Also, determining the first command based on the difference between the measured coordinates of the first and second poses according to the rule of correspondence and executing the first command by the tracker.

Claims

1. 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:

providing the six degree-of-freedom laser tracker, the six degree-of-freedom 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 first receiver that receives a first portion of the first light that is reflected back to the structure,

a distance meter,

a first angular encoder that measures a first angle of rotation of the structure about the first axis,

a second angular encoder that measures a second angle of rotation of the structure about the second axis,

a first motor that rotates the structure about the first axis by the first angle,

a second motor that rotates the structure about the second axis by the second angle, and

a processor;

providing a six degree-of-freedom target having a retroreflector;

directing the first light beam to the retroreflector by the first motor and the second motor;

receiving the first portion of the first light beam;

measuring the first angle of rotation and the second angle of rotation;

determining by the processor a first distance from the six degree-of-freedom laser tracker to the target by the distance meter, based at least in part on the received first portion of the first light beam;

determining by the processor a first set of translational coordinates of the target based at least in part on the first distance, the measured first angle of rotation, and the measured second angle of rotation;

providing a rule of correspondence between a plurality of commands and a plurality of pose patterns of the six degree-of-freedom target, wherein each of the plurality of pose patterns includes a change in at least one orientational coordinate from a first pose of the six degree-of-freedom target to a second pose of the six degree-of-freedom target, each pose of the six degree-of-freedom target having six coordinates-three translational coordinates and three orientational coordinates;

selecting by the user a first command from among the plurality of commands, the first command corresponding to a first pose pattern;

measuring a first set of orientational coordinates of the first pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at a first time;

changing, by the user between the first time and a second time, according to the first pose pattern, from the first pose of the six degree-of-freedom target to the second pose of the six degree-of-freedom target;

measuring a second set of orientational coordinates of the second pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at the second time;

determining the first command based at least in part on a difference between the second set of orientational coordinates and the first set of orientational coordinates according to the rule of correspondence; and

executing the first command by the six degree-of-freedom laser tracker.

2. The method of claim 1, wherein:

the step of providing the six degree-of-freedom laser tracker further includes providing a first camera that rotates about the first axis by the first angle and produces a first image signal; and

the step of measuring a first set of orientational coordinates is further based at least in part on the first image signal.

3. The method of claim 2, wherein:

the step of providing the six degree-of-freedom laser tracker further includes providing a second camera that rotates about the first axis by the first angle and produces a second image signal; and

the step of measuring a first set of orientational coordinates is further based at least in part on the second image signal.

4. The method of claim 2, wherein:

the step of providing a six degree-of-freedom target further includes providing a second light source attached to the six degree-of-freedom target and a control button attached to the six degree-of-freedom target; and

the step of measuring a first set of orientational coordinates is further based at least in part on the second light source.

5. The method of claim 2, wherein:

the step of providing the six degree-of-freedom laser tracker further includes providing a third light source that rotates about the first axis by the first angle; and

the step of measuring a first set of orientational coordinates is further based at least in part on the third light source.

6. 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:

providing the six degree-of-freedom laser tracker, the six degree-of-freedom 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 first receiver that receives a first portion of the first light that is reflected back to the structure,

a distance meter,

a first angular encoder that measures a first angle of rotation of the structure about the first axis,

a second angular encoder that measures a second angle of rotation of the structure about the second axis,

a first motor that rotates the structure about the first axis by the first angle,

a second motor that rotates the structure about the second axis by the second angle,

a processor, and

a first camera that rotates about the first axis by the first angle and produces a first image signal;

providing a six degree-of-freedom target having a retroreflector;

providing a rule of correspondence between a plurality of commands and a plurality of pose patterns of the six degree-of-freedom target, wherein each of the plurality of pose patterns includes a change in at least one orientational coordinate from a first pose of the six degree-of-freedom target to a second pose of the six degree-of-freedom target, each pose of the six degree-of-freedom target having six coordinates-three translational coordinates and three orientational coordinates;

selecting by the user a first command from among the plurality of commands, the first command corresponding to a first pose pattern;

measuring a first set of orientational coordinates of the first pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at a first time;

changing, by the user between the first time and a second time, according to the first pose pattern, from the first pose of the six degree-of-freedom target to the second pose of the six degree-of-freedom target;

measuring a second set of orientational coordinates of the second pose of the six degree-of-freedom target with the six degree-of-freedom laser tracker at the second time;

determining the first command based at least in part on a difference between the second set of orientational coordinates and the first set of orientational coordinates according to the rule of correspondence;

executing the first command by the six degree-of-freedom laser tracker, wherein the first command further includes steps of

directing the first light beam to the retroreflector by the first motor and the second motor, based at least in part on the first image signal;

receiving the first portion of the first light beam;

measuring the first angle of rotation and the second angle of rotation;

determining by the processor a first distance from the six degree-of-freedom laser tracker to the target by the distance meter, based at least in part on the received first portion of the first light beam;

determining by the processor a first set of translational coordinates of the target based at least in part on the first distance, the measured first angle of rotation, and the measured second angle of rotation; and

causing the first light beam to track the six degree-of-freedom target.