Device and method for measuring six degrees of freedom
First Claim
1. A laser tracker configured to locate a retroreflector target, the laser tracker comprising:
- a payload assembly configured to emit a first beam of light along a main optical axis extending from the laser tracker;
a first motor and a second motor configured to together direct the first beam of light along the main optical axis in 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 second axis substantially perpendicular to the first axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the second motor, wherein the payload assembly is configured to rotate about the first axis and the second axis;
a first angle measuring device configured to measure the first angle of rotation and a second angle measuring device configured to measure the second angle of rotation;
a distance meter configured to measure a first distance from the laser tracker to the retroreflector target;
a first camera assembly including a first camera and a first light source, the first camera assembly rigidly affixed to the payload assembly, the first camera having a first camera optical axis extending from the payload assembly, the first camera optical axis generally in the same direction as the main optical axis and offset with respect to the main optical axis, the first light source proximate to the first camera, the first light source configured to illuminate the retroreflector target to produce a first retroreflected light, the first camera configured receive the first retroreflected light and to produce a first image; and
a second camera assembly including a second camera and a second light source, the second camera assembly rigidly affixed to the payload assembly, the second camera having a second camera optical axis extending from the payload, the second camera optical axis offset generally in the same direction as the main optical axis and offset with respect to the main optical axis and to the first camera optical axis, the second light source proximate to the second camera, the second light source configured to illuminate the retroreflector target to produce a second retroreflected light, the second camera configured receive the second retroreflected light and to produce a second image.
1 Assignment
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Accused Products
Abstract
A laser tracker system for measuring six degrees of freedom may include a main optics assembly structured to emit a first laser beam, a pattern projector assembly structured to emit a second laser beam shaped into a two-dimensional pattern, and a target. The target may include a retroreflector and a position sensor assembly. A center of symmetry of the retroreflector may be provided on a different plane than a plane of the position sensor assembly. A method of measuring orientation of a target may include illuminating the target with a laser beam comprising a two-dimensional pattern, recording a position of the two-dimensional pattern on a position sensor assembly to create a measured signature value of the two-dimensional pattern, and calculating an orientation of the target based on the measured signature value.
57 Citations
8 Claims
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1. A laser tracker configured to locate a retroreflector target, the laser tracker comprising:
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a payload assembly configured to emit a first beam of light along a main optical axis extending from the laser tracker; a first motor and a second motor configured to together direct the first beam of light along the main optical axis in 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 second axis substantially perpendicular to the first axis, the first angle of rotation produced by the first motor and the second angle of rotation produced by the second motor, wherein the payload assembly is configured to rotate about the first axis and the second axis; a first angle measuring device configured to measure the first angle of rotation and a second angle measuring device configured to measure the second angle of rotation; a distance meter configured to measure a first distance from the laser tracker to the retroreflector target; a first camera assembly including a first camera and a first light source, the first camera assembly rigidly affixed to the payload assembly, the first camera having a first camera optical axis extending from the payload assembly, the first camera optical axis generally in the same direction as the main optical axis and offset with respect to the main optical axis, the first light source proximate to the first camera, the first light source configured to illuminate the retroreflector target to produce a first retroreflected light, the first camera configured receive the first retroreflected light and to produce a first image; and a second camera assembly including a second camera and a second light source, the second camera assembly rigidly affixed to the payload assembly, the second camera having a second camera optical axis extending from the payload, the second camera optical axis offset generally in the same direction as the main optical axis and offset with respect to the main optical axis and to the first camera optical axis, the second light source proximate to the second camera, the second light source configured to illuminate the retroreflector target to produce a second retroreflected light, the second camera configured receive the second retroreflected light and to produce a second image. - View Dependent Claims (2)
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3. A method for locating a retroreflector target with a laser tracker, the method comprising:
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providing a payload assembly configured to emit a first beam of light along a main optical axis extending from the laser tracker; providing a first motor configured to rotate the payload about a first axis by a first angle of rotation; providing a second motor configured to rotate the payload about a second axis by a second angle of rotation, wherein the second axis is substantially perpendicular to the first axis; providing a first camera assembly including a first camera and a first light source, the first camera assembly rigidly affixed to the payload, the first camera having a first camera optical axis extending from the payload, the first camera optical axis generally in the same direction as the main optical axis and offset with respect to the main optical axis, the first light source proximate to the first camera; providing a second camera assembly including a second camera and a second light source, the second camera assembly rigidly affixed to the payload, the second camera having a second camera optical axis extending from the payload, the second camera optical axis offset generally in the same direction as the main optical axis and offset with respect to the main optical axis, the second camera optical axis offset generally with respect to the first camera optical axis, the second light source proximate to the second camera; emitting the first beam of light; illuminating the retroreflector target with a third light from the first light source to produce first retroreflected light from the retroreflector target; illuminating the retroreflector target with a fourth light from the second light source to produce second retroreflected light from the retroreflector target; receiving the first retroreflected light by the first camera and producing a first camera image in response; receiving the second retroreflected light by the second camera and producing a second camera image in response; determining a first calculated angle of rotation and a second calculated angle of rotation to steer the main optical axis toward the retroreflector target, the first calculated angle of rotation and the second calculated angle of rotation based at least in part on the first camera image and the second camera image; and rotating the payload by the first calculated angle of rotation about the first axis and the second calculated angle of rotation about the second axis. - View Dependent Claims (4, 5, 6, 7, 8)
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Specification